rtfm-syntax refactor + heterogeneous multi-core support

Cargo.toml

@@ -17,56 +17,72 @@ version = "0.5.0-alpha.1"
 [lib]
 name = "rtfm"
 
+[[test]]
+required-features = ["heterogeneous"]
+name = "multi"
+
 [[example]]
 name = "baseline"
-required-features = ["timer-queue"]
+required-features = ["__v7"]
 
 [[example]]
 name = "periodic"
-required-features = ["timer-queue"]
+required-features = ["__v7"]
 
 [[example]]
 name = "pool"
-# this example doesn't need this feature but only works on ARMv7-M
+required-features = ["__v7"]
-# specifying the feature here avoids compiling this for ARMv6-M
-required-features = ["timer-queue"]
 
 [[example]]
 name = "schedule"
-required-features = ["timer-queue"]
+required-features = ["__v7"]
+
+[[example]]
+name = "t-cfg"
+required-features = ["__v7"]
+
+[[example]]
+name = "t-schedule"
+required-features = ["__v7"]
 
 [[example]]
 name = "types"
-required-features = ["timer-queue"]
+required-features = ["__v7"]
 
 [dependencies]
-cortex-m = "0.5.8"
+cortex-m = "0.6.0"
-cortex-m-rt = "0.6.7"
+cortex-m-rtfm-macros = { path = "macros" }
-cortex-m-rtfm-macros = { path = "macros", version = "0.5.0-alpha.1" }
+rtfm-core = { git = "https://github.com/japaric/rtfm-core" }
-heapless = "0.5.0-alpha.1"
+cortex-m-rt = "0.6.8"
+heapless = "0.5.0-alpha.2"
+
+[dependencies.microamp]
+optional = true
+version = "0.1.0-alpha.1"
 
 [dev-dependencies]
-cortex-m-semihosting = "0.3.2"
 lm3s6965 = "0.1.3"
 panic-halt = "0.2.0"
+cortex-m-semihosting = "0.3.3"
 
 [dev-dependencies.panic-semihosting]
 features = ["exit"]
-version = "0.5.1"
+version = "0.5.2"
-
-[features]
-timer-queue = ["cortex-m-rtfm-macros/timer-queue"]
 
 [target.x86_64-unknown-linux-gnu.dev-dependencies]
-compiletest_rs = "0.3.21"
+compiletest_rs = "0.3.22"
-tempdir = "0.3.7"
 
-[package.metadata.docs.rs]
+[features]
-features = ["timer-queue"]
+heterogeneous = ["cortex-m-rtfm-macros/heterogeneous", "microamp"]
+# used for testing this crate; do not use in applications
+__v7 =[]
 
 [profile.release]
 codegen-units = 1
 lto = true
 
 [workspace]
-members = ["macros"]
+members = [
+  "macros",
+  "mc",
+]

ci/install.sh

@@ -1,10 +1,12 @@
 set -euxo pipefail
 
 main() {
-    if [ $TARGET != x86_64-unknown-linux-gnu ]; then
+    if [ $TARGET = x86_64-unknown-linux-gnu ]; then
-        rustup target add $TARGET
+        ( cd .. && cargo install microamp-tools --version 0.1.0-alpha.2 -f )
     fi
 
+    rustup target add $TARGET
+
     mkdir qemu
     curl -L https://github.com/japaric/qemu-bin/raw/master/14.04/qemu-system-arm-2.12.0 > qemu/qemu-system-arm
     chmod +x qemu/qemu-system-arm

ci/script.sh

@@ -37,46 +37,58 @@ main() {
     mkdir -p ci/builds
 
     if [ $T = x86_64-unknown-linux-gnu ]; then
-        # compile-fail and compile-pass tests
+        if [ $TRAVIS_RUST_VERSION = nightly ]; then
+            # compile-fail tests
+            cargo test --test single --target $T
+            cargo test --test multi --features heterogeneous --target $T
 
-        # TODO how to run a subset of these tests when timer-queue is disabled?
+            # multi-core compile-pass tests
-        cargo test --features "timer-queue" --test compiletest --target $T
+            pushd mc
+            local exs=(
+                smallest
+                x-init-2
+                x-init
+                x-schedule
+                x-spawn
+            )
+            for ex in ${exs[@]}; do
+                cargo microamp --example $ex --target thumbv7m-none-eabi,thumbv6m-none-eabi --check
+            done
+
+            popd
+
+        else
+            if [ $TRAVIS_RUST_VERSION != nightly ]; then
+                rm -f .cargo/config
+                cargo doc
+                ( cd book/en && mdbook build )
+                ( cd book/ru && mdbook build )
+
+                local td=$(mktemp -d)
+                cp -r target/doc $td/api
+                mkdir $td/book
+                cp -r book/en/book $td/book/en
+                cp -r book/ru/book $td/book/ru
+                cp LICENSE-* $td/book/en
+                cp LICENSE-* $td/book/ru
+
+                linkchecker $td/book/en/
+                linkchecker $td/book/ru/
+                linkchecker $td/api/rtfm/
+                linkchecker $td/api/cortex_m_rtfm_macros/
+            fi
+        fi
 
         cargo check --target $T
-        if [ $TARGET != thumbv6m-none-eabi ]; then
+        ( cd macros && cargo test --target $T )
-            cargo check --features "timer-queue" --target $T
-        fi
-
-        if [ $TRAVIS_RUST_VERSION != nightly ]; then
-            rm -f .cargo/config
-            if [ $TARGET != thumbv6m-none-eabi ]; then
-                cargo doc --features timer-queue
-            else
-                cargo doc
-            fi
-            ( cd book/en && mdbook build )
-            ( cd book/ru && mdbook build )
-
-            local td=$(mktemp -d)
-            cp -r target/doc $td/api
-            mkdir $td/book
-            cp -r book/en/book $td/book/en
-            cp -r book/ru/book $td/book/ru
-            cp LICENSE-* $td/book/en
-            cp LICENSE-* $td/book/ru
-
-            linkchecker $td/book/en/
-            linkchecker $td/book/ru/
-            linkchecker $td/api/rtfm/
-            linkchecker $td/api/cortex_m_rtfm_macros/
-        fi
 
         return
     fi
 
-    cargo check --target $T --examples
+    if [ $TARGET = thumbv6m-none-eabi ]; then
-    if [ $TARGET != thumbv6m-none-eabi ]; then
+        cargo check --target $T --examples
-        cargo check --features "timer-queue" --target $T --examples
+    else
+        cargo check --target $T --examples --features __v7
     fi
 
     # run-pass tests
@@ -108,74 +120,71 @@ main() {
             )
 
             for ex in ${exs[@]}; do
-                if [ $ex = ramfunc ] && [ $T = thumbv6m-none-eabi ]; then
-                    # LLD doesn't support this at the moment
-                    continue
-                fi
-
                 if [ $ex = pool ]; then
-                    if [ $TARGET != thumbv6m-none-eabi ]; then
+                    if [ $TARGET = thumbv6m-none-eabi ]; then
-                        local td=$(mktemp -d)
+                        continue
-
-                        local features="timer-queue"
-                        cargo run --example $ex --target $TARGET --features $features >\
-                              $td/pool.run
-                        grep 'foo(0x2' $td/pool.run
-                        grep 'bar(0x2' $td/pool.run
-                        arm-none-eabi-objcopy -O ihex target/$TARGET/debug/examples/$ex \
-                                              ci/builds/${ex}_${features/,/_}_debug_1.hex
-
-                        cargo run --example $ex --target $TARGET --features $features --release >\
-                              $td/pool.run
-                        grep 'foo(0x2' $td/pool.run
-                        grep 'bar(0x2' $td/pool.run
-                        arm-none-eabi-objcopy -O ihex target/$TARGET/release/examples/$ex \
-                                              ci/builds/${ex}_${features/,/_}_release_1.hex
-
-                        rm -rf $td
                     fi
 
+                    local td=$(mktemp -d)
+
+                    cargo run --example $ex --target $TARGET --features __v7 >\
+                            $td/pool.run
+                    grep 'foo(0x2' $td/pool.run
+                    grep 'bar(0x2' $td/pool.run
+                    arm-none-eabi-objcopy -O ihex target/$TARGET/debug/examples/$ex \
+                                            ci/builds/${ex}___v7_debug_1.hex
+
+                    cargo run --example $ex --target $TARGET --features __v7 --release >\
+                            $td/pool.run
+                    grep 'foo(0x2' $td/pool.run
+                    grep 'bar(0x2' $td/pool.run
+                    arm-none-eabi-objcopy -O ihex target/$TARGET/release/examples/$ex \
+                                            ci/builds/${ex}___v7_release_1.hex
+
+                    rm -rf $td
+
                     continue
                 fi
 
-                if [ $ex != types ]; then
+                if [ $ex = types ]; then
-                    arm_example "run" $ex "debug" "" "1"
+                    if [ $TARGET = thumbv6m-none-eabi ]; then
-                    arm_example "run" $ex "release" "" "1"
+                        continue
+                    fi
+
+                    arm_example "run" $ex "debug" "__v7" "1"
+                    arm_example "run" $ex "release" "__v7" "1"
+
+                    continue
                 fi
 
-                if [ $TARGET != thumbv6m-none-eabi ]; then
+                arm_example "run" $ex "debug" "" "1"
-                    arm_example "run" $ex "debug" "timer-queue" "1"
+                arm_example "run" $ex "release" "" "1"
-                    arm_example "run" $ex "release" "timer-queue" "1"
-                fi
             done
 
             local built=()
             cargo clean
             for ex in ${exs[@]}; do
-                if [ $ex = ramfunc ] && [ $T = thumbv6m-none-eabi ]; then
+                if [ $ex = types ] || [ $ex = pool ]; then
-                    # LLD doesn't support this at the moment
+                    if [ $TARGET = thumbv6m-none-eabi ]; then
-                    continue
+                        continue
-                fi
+                    fi
 
-                if [ $ex != types ] && [ $ex != pool ]; then
+                    arm_example "build" $ex "debug" "__v7" "2"
+                    cmp ci/builds/${ex}___v7_debug_1.hex \
+                        ci/builds/${ex}___v7_debug_2.hex
+                    arm_example "build" $ex "release" "__v7" "2"
+                    cmp ci/builds/${ex}___v7_release_1.hex \
+                        ci/builds/${ex}___v7_release_2.hex
+                else
                     arm_example "build" $ex "debug" "" "2"
                     cmp ci/builds/${ex}_debug_1.hex \
                         ci/builds/${ex}_debug_2.hex
                     arm_example "build" $ex "release" "" "2"
                     cmp ci/builds/${ex}_release_1.hex \
                         ci/builds/${ex}_release_2.hex
-
-                    built+=( $ex )
                 fi
 
-                if [ $TARGET != thumbv6m-none-eabi ]; then
+                built+=( $ex )
-                    arm_example "build" $ex "debug" "timer-queue" "2"
-                    cmp ci/builds/${ex}_timer-queue_debug_1.hex \
-                        ci/builds/${ex}_timer-queue_debug_2.hex
-                    arm_example "build" $ex "release" "timer-queue" "2"
-                    cmp ci/builds/${ex}_timer-queue_release_1.hex \
-                        ci/builds/${ex}_timer-queue_release_2.hex
-                fi
             done
 
             ( cd target/$TARGET/release/examples/ && size ${built[@]} )

examples/baseline.rs

@@ -5,13 +5,12 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 // NOTE: does NOT properly work on QEMU
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(spawn = [foo])]
     fn init(c: init::Context) {

examples/binds.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 // `examples/interrupt.rs` rewritten to use `binds`
 #[rtfm::app(device = lm3s6965)]

examples/capacity.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/cfg.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 #[cfg(debug_assertions)]
 use cortex_m_semihosting::hprintln;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -21,12 +20,12 @@ const APP: () = {
     }
 
     #[task(priority = 3, resources = [COUNT], spawn = [log])]
-    fn foo(c: foo::Context) {
+    fn foo(_c: foo::Context) {
         #[cfg(debug_assertions)]
         {
-            *c.resources.COUNT += 1;
+            *_c.resources.COUNT += 1;
 
-            c.spawn.log(*c.resources.COUNT).ok();
+            _c.spawn.log(*_c.resources.COUNT).ok();
         }
 
         // this wouldn't compile in `release` mode

examples/generics.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::Mutex;
+use panic_semihosting as _;
+use rtfm::{Exclusive, Mutex};
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -35,17 +34,15 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn UART1(mut c: UART1::Context) {
+    fn UART1(c: UART1::Context) {
         static mut STATE: u32 = 0;
 
         hprintln!("UART1(STATE = {})", *STATE).unwrap();
 
-        // just to show that `SHARED` can be accessed directly and ..
+        // just to show that `SHARED` can be accessed directly
         *c.resources.SHARED += 0;
-        // .. also through a (no-op) `lock`
-        c.resources.SHARED.lock(|shared| *shared += 0);
 
-        advance(STATE, c.resources.SHARED);
+        advance(STATE, Exclusive(c.resources.SHARED));
     }
 };
 

examples/idle.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/init.rs

@@ -5,18 +5,17 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, peripherals = true)]
 const APP: () = {
     #[init]
     fn init(c: init::Context) {
         static mut X: u32 = 0;
 
         // Cortex-M peripherals
-        let _core: rtfm::Peripherals = c.core;
+        let _core: cortex_m::Peripherals = c.core;
 
         // Device specific peripherals
         let _device: lm3s6965::Peripherals = c.device;

examples/interrupt.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/late.rs

@@ -5,20 +5,21 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use heapless::{
     consts::*,
     spsc::{Consumer, Producer, Queue},
 };
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
     // Late resources
-    static mut P: Producer<'static, u32, U4> = ();
+    extern "C" {
-    static mut C: Consumer<'static, u32, U4> = ();
+        static mut P: Producer<'static, u32, U4>;
+        static mut C: Consumer<'static, u32, U4>;
+    }
 
     #[init]
     fn init(_: init::Context) -> init::LateResources {

examples/lock.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -46,7 +45,7 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn GPIOB(mut c: GPIOB::Context) {
+    fn GPIOB(c: GPIOB::Context) {
         // the higher priority task does *not* need a critical section
         *c.resources.SHARED += 1;
 

examples/message.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/not-send.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use core::marker::PhantomData;
 
 use cortex_m_semihosting::debug;
+use panic_halt as _;
 use rtfm::app;
 
 pub struct NotSend {
@@ -38,13 +37,13 @@ const APP: () = {
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn baz(mut c: baz::Context) {
+    fn baz(c: baz::Context) {
         // scenario 2: resource shared between tasks that run at the same priority
         *c.resources.SHARED = Some(NotSend { _0: PhantomData });
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn quux(mut c: quux::Context) {
+    fn quux(c: quux::Context) {
         // scenario 2
         let _not_send = c.resources.SHARED.take().unwrap();
 

examples/not-sync.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use core::marker::PhantomData;
 
 use cortex_m_semihosting::debug;
+use panic_halt as _;
 
 pub struct NotSync {
     _0: PhantomData<*const ()>,

examples/periodic.rs

@@ -5,15 +5,14 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::hprintln;
-use rtfm::Instant;
+use panic_semihosting as _;
+use rtfm::cyccnt::{Instant, U32Ext};
 
 const PERIOD: u32 = 8_000_000;
 
 // NOTE: does NOT work on QEMU!
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo])]
     fn init(c: init::Context) {

examples/pool.rs

@@ -5,14 +5,13 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use heapless::{
     pool,
     pool::singleton::{Box, Pool},
 };
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 use rtfm::app;
 
 // Declare a pool of 128-byte memory blocks

examples/ramfunc.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/resource.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -33,7 +32,7 @@ const APP: () = {
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART0(mut c: UART0::Context) {
+    fn UART0(c: UART0::Context) {
         *c.resources.SHARED += 1;
 
         hprintln!("UART0: SHARED = {}", c.resources.SHARED).unwrap();
@@ -41,7 +40,7 @@ const APP: () = {
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART1(mut c: UART1::Context) {
+    fn UART1(c: UART1::Context) {
         *c.resources.SHARED += 1;
 
         hprintln!("UART1: SHARED = {}", c.resources.SHARED).unwrap();

examples/schedule.rs

@@ -5,13 +5,12 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::hprintln;
-use rtfm::Instant;
+use panic_halt as _;
+use rtfm::cyccnt::{Instant, U32Ext as _};
 
 // NOTE: does NOT work on QEMU!
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo, bar])]
     fn init(c: init::Context) {

examples/shared-with-init.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use cortex_m_semihosting::debug;
 use lm3s6965::Interrupt;
+use panic_halt as _;
 use rtfm::app;
 
 pub struct MustBeSend;

examples/smallest.rs

@@ -5,13 +5,8 @@
 #![no_main]
 #![no_std]
 
-// panic-handler crate
+use panic_semihosting as _; // panic handler
-extern crate panic_semihosting;
-
 use rtfm::app;
 
 #[app(device = lm3s6965)]
-const APP: () = {
+const APP: () = {};
-    #[init]
-    fn init(_: init::Context) {}
-};

examples/static.rs

@@ -5,14 +5,15 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
-    static KEY: u32 = ();
+    extern "C" {
+        static KEY: u32;
+    }
 
     #[init]
     fn init(_: init::Context) -> init::LateResources {

examples/t-binds.rs

@@ -1,12 +1,11 @@
-//! Check that `binds` works as advertised
+//! [compile-pass] Check that `binds` works as advertised
+
 #![deny(unsafe_code)]
 #![deny(warnings)]
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
+use panic_halt as _;
-extern crate panic_halt;
-extern crate rtfm;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/t-cfg.rs

@@ -1,15 +1,11 @@
-//! Compile-pass test that checks that `#[cfg]` attributes are respected
+//! [compile-pass] check that `#[cfg]` attributes are respected
 
-#![deny(unsafe_code)]
-#![deny(warnings)]
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
+use panic_halt as _;
-extern crate panic_halt;
-extern crate rtfm;
 
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[cfg(never)]
     static mut FOO: u32 = 0;

examples/t-late-not-send.rs

@@ -1,25 +1,27 @@
-#![deny(unsafe_code)]
+//! [compile-pass] late resources don't need to be `Send` if they are owned by `idle`
-#![deny(warnings)]
+
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
 use core::marker::PhantomData;
 
+use panic_halt as _;
+
 pub struct NotSend {
     _0: PhantomData<*const ()>,
 }
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
-    static mut X: NotSend = ();
+    extern "C" {
+        static mut X: NotSend;
+    }
+
     static mut Y: Option<NotSend> = None;
 
     #[init(resources = [Y])]
     fn init(c: init::Context) -> init::LateResources {
+        // equivalent to late resource initialization
         *c.resources.Y = Some(NotSend { _0: PhantomData });
 
         init::LateResources {

examples/t-resource.rs

@@ -1,15 +1,11 @@
-//! Check code generation of resources
+//! [compile-pass] Check code generation of resources
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
+use panic_halt as _;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::Exclusive;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -61,10 +57,10 @@ const APP: () = {
         let _: &mut u32 = c.resources.O3;
 
         // no `Mutex` proxy when access from highest priority task
-        let _: Exclusive<u32> = c.resources.S1;
+        let _: &mut u32 = c.resources.S1;
 
         // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
-        let _: Exclusive<u32> = c.resources.S2;
+        let _: &mut u32 = c.resources.S2;
 
         // `&` if read-only
         let _: &u32 = c.resources.S3;
@@ -76,6 +72,6 @@ const APP: () = {
         let _: &u32 = c.resources.O5;
 
         // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
-        let _: Exclusive<u32> = c.resources.S2;
+        let _: &mut u32 = c.resources.S2;
     }
 };

examples/t-schedule.rs

@@ -1,15 +1,14 @@
+//! [compile-pass] Check `schedule` code generation
+
 #![deny(unsafe_code)]
 #![deny(warnings)]
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
+use panic_halt as _;
-extern crate panic_halt;
+use rtfm::cyccnt::{Instant, U32Ext as _};
-extern crate rtfm;
 
-use rtfm::Instant;
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
-
-#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(schedule = [foo, bar, baz])]
     fn init(c: init::Context) {

examples/t-spawn.rs

@@ -1,12 +1,11 @@
-//! Check code generation of `spawn`
+//! [compile-pass] Check code generation of `spawn`
+
 #![deny(unsafe_code)]
 #![deny(warnings)]
 #![no_main]
 #![no_std]
 
-extern crate lm3s6965;
+use panic_halt as _;
-extern crate panic_halt;
-extern crate rtfm;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/task.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/types.rs

@@ -5,12 +5,11 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::debug;
-use rtfm::{Exclusive, Instant};
+use panic_semihosting as _;
+use rtfm::cyccnt::Instant;
 
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     static mut SHARED: u32 = 0;
 
@@ -43,7 +42,7 @@ const APP: () = {
     #[task(priority = 2, resources = [SHARED], schedule = [foo], spawn = [foo])]
     fn foo(c: foo::Context) {
         let _: Instant = c.scheduled;
-        let _: Exclusive<u32> = c.resources.SHARED;
+        let _: &mut u32 = c.resources.SHARED;
         let _: foo::Resources = c.resources;
         let _: foo::Schedule = c.schedule;
         let _: foo::Spawn = c.spawn;

macros/Cargo.toml

@@ -15,12 +15,12 @@ version = "0.5.0-alpha.1"
 proc-macro = true
 
 [dependencies]
-quote = "0.6.10"
+proc-macro2 = "0.4.30"
-proc-macro2 = "0.4.24"
+quote = "0.6.12"
+syn = "0.15.34"
 
-[dependencies.syn]
+[dependencies.rtfm-syntax]
-features = ["extra-traits", "full"]
+git = "https://github.com/japaric/rtfm-syntax"
-version = "0.15.23"
 
 [features]
-timer-queue = []
+heterogeneous = []

macros/src/analyze.rs

@@ -1,265 +1,59 @@
-use std::{
+use core::ops;
-    cmp,
+use std::collections::{BTreeMap, BTreeSet};
-    collections::{BTreeMap, HashMap, HashSet},
+
+use rtfm_syntax::{
+    analyze::{self, Priority},
+    ast::App,
+    Core, P,
 };
+use syn::Ident;
 
-use syn::{Attribute, Ident, Type};
+/// Extend the upstream `Analysis` struct with our field
-
-use crate::syntax::{App, Idents};
-
-pub type Ownerships = HashMap<Ident, Ownership>;
-
 pub struct Analysis {
-    /// Capacities of free queues
+    parent: P<analyze::Analysis>,
-    pub capacities: Capacities,
+    pub interrupts: BTreeMap<Core, BTreeMap<Priority, Ident>>,
-    pub dispatchers: Dispatchers,
-    // Ceilings of free queues
-    pub free_queues: HashMap<Ident, u8>,
-    pub resources_assert_send: HashSet<Box<Type>>,
-    pub tasks_assert_send: HashSet<Ident>,
-    /// Types of RO resources that need to be Sync
-    pub assert_sync: HashSet<Box<Type>>,
-    // Resource ownership
-    pub ownerships: Ownerships,
-    // Ceilings of ready queues
-    pub ready_queues: HashMap<u8, u8>,
-    pub timer_queue: TimerQueue,
 }
 
-#[derive(Clone, Copy, PartialEq)]
+impl ops::Deref for Analysis {
-pub enum Ownership {
+    type Target = analyze::Analysis;
-    // NOTE priorities and ceilings are "logical" (0 = lowest priority, 255 = highest priority)
-    Owned { priority: u8 },
-    CoOwned { priority: u8 },
-    Shared { ceiling: u8 },
-}
 
-impl Ownership {
+    fn deref(&self) -> &Self::Target {
-    pub fn needs_lock(&self, priority: u8) -> bool {
+        &self.parent
-        match *self {
-            Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
-            Ownership::Shared { ceiling } => {
-                debug_assert!(ceiling >= priority);
-
-                priority < ceiling
-            }
-        }
-    }
-
-    pub fn is_owned(&self) -> bool {
-        match *self {
-            Ownership::Owned { .. } => true,
-            _ => false,
-        }
     }
 }
 
-pub struct Dispatcher {
+// Assign an `extern` interrupt to each priority level
-    /// Attributes to apply to the dispatcher
+pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
-    pub attrs: Vec<Attribute>,
+    let mut interrupts = BTreeMap::new();
-    pub interrupt: Ident,
+    for core in 0..app.args.cores {
-    /// Tasks dispatched at this priority level
+        let priorities = app
-    pub tasks: Vec<Ident>,
+            .software_tasks
-    // Queue capacity
+            .values()
-    pub capacity: u8,
+            .filter_map(|task| {
-}
+                if task.args.core == core {
-
+                    Some(task.args.priority)
-/// Priority -> Dispatcher
+                } else {
-pub type Dispatchers = BTreeMap<u8, Dispatcher>;
+                    None
-
-pub type Capacities = HashMap<Ident, u8>;
-
-pub fn app(app: &App) -> Analysis {
-    // Ceiling analysis of R/W resource and Sync analysis of RO resources
-    // (Resource shared by tasks that run at different priorities need to be `Sync`)
-    let mut ownerships = Ownerships::new();
-    let mut resources_assert_send = HashSet::new();
-    let mut tasks_assert_send = HashSet::new();
-    let mut assert_sync = HashSet::new();
-
-    for (priority, res) in app.resource_accesses() {
-        if let Some(ownership) = ownerships.get_mut(res) {
-            match *ownership {
-                Ownership::Owned { priority: ceiling }
-                | Ownership::CoOwned { priority: ceiling }
-                | Ownership::Shared { ceiling }
-                    if priority != ceiling =>
-                {
-                    *ownership = Ownership::Shared {
-                        ceiling: cmp::max(ceiling, priority),
-                    };
-
-                    let res = &app.resources[res];
-                    if res.mutability.is_none() {
-                        assert_sync.insert(res.ty.clone());
-                    }
                 }
-                Ownership::Owned { priority: ceiling } if ceiling == priority => {
+            })
-                    *ownership = Ownership::CoOwned { priority };
+            .chain(analysis.timer_queues.get(&core).map(|tq| tq.priority))
-                }
+            .collect::<BTreeSet<_>>();
-                _ => {}
-            }
 
-            continue;
+        if !priorities.is_empty() {
-        }
+            interrupts.insert(
-
+                core,
-        ownerships.insert(res.clone(), Ownership::Owned { priority });
+                priorities
-    }
+                    .iter()
-
+                    .cloned()
-    // Compute sizes of free queues
+                    .rev()
-    // We assume at most one message per `spawn` / `schedule`
+                    .zip(app.extern_interrupts[&core].keys().cloned())
-    let mut capacities: Capacities = app.tasks.keys().map(|task| (task.clone(), 0)).collect();
+                    .collect(),
-    for (_, task) in app.spawn_calls().chain(app.schedule_calls()) {
+            );
-        *capacities.get_mut(task).expect("BUG: capacities.get_mut") += 1;
-    }
-
-    // Override computed capacities if user specified a capacity in `#[task]`
-    for (name, task) in &app.tasks {
-        if let Some(cap) = task.args.capacity {
-            *capacities.get_mut(name).expect("BUG: capacities.get_mut") = cap;
         }
     }
 
-    // Compute the size of the timer queue
+    P::new(Analysis {
-    // Compute the priority of the timer queue, which matches the priority of the highest
+        parent: analysis,
-    // `schedule`-able task
+        interrupts,
-    let mut tq_capacity = 0;
+    })
-    let mut tq_priority = 1;
-    let mut tq_tasks = Idents::new();
-    for (_, task) in app.schedule_calls() {
-        tq_capacity += capacities[task];
-        tq_priority = cmp::max(tq_priority, app.tasks[task].args.priority);
-        tq_tasks.insert(task.clone());
-    }
-
-    // Compute dispatchers capacities
-    // Determine which tasks are dispatched by which dispatcher
-    // Compute the timer queue priority which matches the priority of the highest priority
-    // dispatcher
-    let mut dispatchers = Dispatchers::new();
-    let mut free_interrupts = app.free_interrupts.iter();
-    let mut tasks = app.tasks.iter().collect::<Vec<_>>();
-    tasks.sort_by(|l, r| l.1.args.priority.cmp(&r.1.args.priority));
-    for (name, task) in tasks {
-        let dispatcher = dispatchers.entry(task.args.priority).or_insert_with(|| {
-            let (name, fi) = free_interrupts
-                .next()
-                .expect("BUG: not enough free_interrupts");
-
-            Dispatcher {
-                attrs: fi.attrs.clone(),
-                capacity: 0,
-                interrupt: name.clone(),
-                tasks: vec![],
-            }
-        });
-
-        dispatcher.capacity += capacities[name];
-        dispatcher.tasks.push(name.clone());
-    }
-
-    // All messages sent from `init` need to be `Send`
-    for task in app.init.args.spawn.iter().chain(&app.init.args.schedule) {
-        tasks_assert_send.insert(task.clone());
-    }
-
-    // All late resources need to be `Send`, unless they are owned by `idle`
-    for (name, res) in &app.resources {
-        let owned_by_idle = Ownership::Owned { priority: 0 };
-        if res.expr.is_none()
-            && ownerships
-                .get(name)
-                .map(|ship| *ship != owned_by_idle)
-                .unwrap_or(false)
-        {
-            resources_assert_send.insert(res.ty.clone());
-        }
-    }
-
-    // All resources shared with init need to be `Send`, unless they are owned by `idle`
-    // This is equivalent to late initialization (e.g. `static mut LATE: Option<T> = None`)
-    for name in &app.init.args.resources {
-        let owned_by_idle = Ownership::Owned { priority: 0 };
-        if ownerships
-            .get(name)
-            .map(|ship| *ship != owned_by_idle)
-            .unwrap_or(false)
-        {
-            resources_assert_send.insert(app.resources[name].ty.clone());
-        }
-    }
-
-    // Ceiling analysis of free queues (consumer end point) -- first pass
-    // Ceiling analysis of ready queues (producer end point) -- first pass
-    // Also compute more Send-ness requirements
-    let mut free_queues = HashMap::new();
-    let mut ready_queues = HashMap::new();
-    for (priority, task) in app.spawn_calls() {
-        if let Some(priority) = priority {
-            // Users of `spawn` contend for the spawnee FREE_QUEUE
-            let c = free_queues.entry(task.clone()).or_default();
-            *c = cmp::max(*c, priority);
-
-            // Users of `spawn` contend for the spawnee's dispatcher READY_QUEUE
-            let c = ready_queues
-                .entry(app.tasks[task].args.priority)
-                .or_default();
-            *c = cmp::max(*c, priority);
-
-            // Send is required when sending messages from a task whose priority doesn't match the
-            // priority of the receiving task
-            if app.tasks[task].args.priority != priority {
-                tasks_assert_send.insert(task.clone());
-            }
-        } else {
-            // spawns from `init` are excluded from the ceiling analysis
-        }
-    }
-
-    // Ceiling analysis of ready queues (producer end point) -- second pass
-    // Ceiling analysis of free queues (consumer end point) -- second pass
-    // Ceiling analysis of the timer queue
-    let mut tq_ceiling = tq_priority;
-    for (priority, task) in app.schedule_calls() {
-        // the system timer handler contends for the spawnee's dispatcher READY_QUEUE
-        let c = ready_queues
-            .entry(app.tasks[task].args.priority)
-            .or_default();
-        *c = cmp::max(*c, tq_priority);
-
-        if let Some(priority) = priority {
-            // Users of `schedule` contend for the spawnee task FREE_QUEUE
-            let c = free_queues.entry(task.clone()).or_default();
-            *c = cmp::max(*c, priority);
-
-            // Users of `schedule` contend for the timer queue
-            tq_ceiling = cmp::max(tq_ceiling, priority);
-        } else {
-            // spawns from `init` are excluded from the ceiling analysis
-        }
-    }
-
-    Analysis {
-        capacities,
-        dispatchers,
-        free_queues,
-        tasks_assert_send,
-        resources_assert_send,
-        assert_sync,
-        ownerships,
-        ready_queues,
-        timer_queue: TimerQueue {
-            capacity: tq_capacity,
-            ceiling: tq_ceiling,
-            priority: tq_priority,
-            tasks: tq_tasks,
-        },
-    }
-}
-
-pub struct TimerQueue {
-    pub capacity: u8,
-    pub ceiling: u8,
-    pub priority: u8,
-    pub tasks: Idents,
 }

macros/src/check.rs

@@ -1,122 +1,209 @@
-use std::{collections::HashSet, iter};
+use std::collections::HashSet;
 
 use proc_macro2::Span;
-use syn::parse;
+use rtfm_syntax::{
+    analyze::Analysis,
+    ast::{App, CustomArg, HardwareTaskKind},
+};
+use syn::{parse, Path};
 
-use crate::syntax::App;
+pub struct Extra<'a> {
+    pub device: &'a Path,
+    pub monotonic: Option<&'a Path>,
+    pub peripherals: Option<u8>,
+}
 
-pub fn app(app: &App) -> parse::Result<()> {
+impl<'a> Extra<'a> {
-    // Check that all referenced resources have been declared
+    pub fn monotonic(&self) -> &'a Path {
-    for res in app
+        self.monotonic.expect("UNREACHABLE")
-        .idle
+    }
-        .as_ref()
+}
-        .map(|idle| -> Box<dyn Iterator<Item = _>> { Box::new(idle.args.resources.iter()) })
+
-        .unwrap_or_else(|| Box::new(iter::empty()))
+pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
-        .chain(&app.init.args.resources)
+    // check that all exceptions are valid; only exceptions with configurable priorities are
-        .chain(app.exceptions.values().flat_map(|e| &e.args.resources))
+    // accepted
-        .chain(app.interrupts.values().flat_map(|i| &i.args.resources))
+    for (name, task) in app
-        .chain(app.tasks.values().flat_map(|t| &t.args.resources))
+        .hardware_tasks
+        .iter()
+        .filter(|(_, task)| task.kind == HardwareTaskKind::Exception)
     {
-        if !app.resources.contains_key(res) {
+        let name_s = task.args.binds(name).to_string();
-            return Err(parse::Error::new(
+        match &*name_s {
-                res.span(),
+            // NOTE that some of these don't exist on ARMv6-M but we don't check that here -- the
-                "this resource has NOT been declared",
+            // code we generate will check that the exception actually exists on ARMv6-M
-            ));
+            "MemoryManagement" | "BusFault" | "UsageFault" | "SecureFault" | "SVCall"
+            | "DebugMonitor" | "PendSV" => {} // OK
+
+            "SysTick" => {
+                if analysis.timer_queues.get(&task.args.core).is_some() {
+                    return Err(parse::Error::new(
+                        name.span(),
+                        "this exception can't be used because it's being used by the runtime",
+                    ));
+                } else {
+                    // OK
+                }
+            }
+
+            _ => {
+                return Err(parse::Error::new(
+                    name.span(),
+                    "only exceptions with configurable priority can be used as hardware tasks",
+                ));
+            }
         }
     }
 
-    // Check that late resources have not been assigned to `init`
+    // check that external (device-specific) interrupts are not named after known (Cortex-M)
-    for res in &app.init.args.resources {
+    // exceptions
-        if app.resources.get(res).unwrap().expr.is_none() {
+    for name in app
-            return Err(parse::Error::new(
+        .extern_interrupts
-                res.span(),
+        .iter()
-                "late resources can NOT be assigned to `init`",
+        .flat_map(|(_, interrupts)| interrupts.keys())
-            ));
-        }
-    }
-
-    if app.resources.iter().any(|(_, res)| res.expr.is_none()) {
-        // Check that `init` returns `LateResources` if there's any declared late resource
-        if !app.init.returns_late_resources {
-            return Err(parse::Error::new(
-                app.init.span,
-                "late resources have been specified so `init` must return `init::LateResources`",
-            ));
-        }
-    } else if app.init.returns_late_resources {
-        // If there are no late resources the signature should be `fn(init::Context)`
-        if app.init.returns_late_resources {
-            return Err(parse::Error::new(
-                app.init.span,
-                "`init` signature must be `fn(init::Context)` if there are no late resources",
-            ));
-        }
-    }
-
-    // Check that all referenced tasks have been declared
-    for task in app
-        .idle
-        .as_ref()
-        .map(|idle| -> Box<dyn Iterator<Item = _>> {
-            Box::new(idle.args.schedule.iter().chain(&idle.args.spawn))
-        })
-        .unwrap_or_else(|| Box::new(iter::empty()))
-        .chain(&app.init.args.schedule)
-        .chain(&app.init.args.spawn)
-        .chain(
-            app.exceptions
-                .values()
-                .flat_map(|e| e.args.schedule.iter().chain(&e.args.spawn)),
-        )
-        .chain(
-            app.interrupts
-                .values()
-                .flat_map(|i| i.args.schedule.iter().chain(&i.args.spawn)),
-        )
-        .chain(
-            app.tasks
-                .values()
-                .flat_map(|t| t.args.schedule.iter().chain(&t.args.spawn)),
-        )
     {
-        if !app.tasks.contains_key(task) {
+        let name_s = name.to_string();
-            return Err(parse::Error::new(
+
-                task.span(),
+        match &*name_s {
-                "this task has NOT been declared",
+            "NonMaskableInt" | "HardFault" | "MemoryManagement" | "BusFault" | "UsageFault"
-            ));
+            | "SecureFault" | "SVCall" | "DebugMonitor" | "PendSV" | "SysTick" => {
+                return Err(parse::Error::new(
+                    name.span(),
+                    "Cortex-M exceptions can't be used as `extern` interrupts",
+                ));
+            }
+
+            _ => {}
         }
     }
 
-    // Check that there are enough free interrupts to dispatch all tasks
+    // check that there are enough external interrupts to dispatch the software tasks and the timer
-    let ndispatchers = app
+    // queue handler
-        .tasks
+    for core in 0..app.args.cores {
-        .values()
+        let mut first = None;
-        .map(|t| t.args.priority)
+        let priorities = app
-        .collect::<HashSet<_>>()
+            .software_tasks
-        .len();
+            .iter()
-    if ndispatchers > app.free_interrupts.len() {
+            .filter_map(|(name, task)| {
+                if task.args.core == core {
+                    first = Some(name);
+                    Some(task.args.priority)
+                } else {
+                    None
+                }
+            })
+            .chain(analysis.timer_queues.get(&core).map(|tq| tq.priority))
+            .collect::<HashSet<_>>();
+
+        let need = priorities.len();
+        let given = app
+            .extern_interrupts
+            .get(&core)
+            .map(|ei| ei.len())
+            .unwrap_or(0);
+        if need > given {
+            let s = if app.args.cores == 1 {
+                format!(
+                    "not enough `extern` interrupts to dispatch \
+                     all software tasks (need: {}; given: {})",
+                    need, given
+                )
+            } else {
+                format!(
+                    "not enough `extern` interrupts to dispatch \
+                     all software tasks on this core (need: {}; given: {})",
+                    need, given
+                )
+            };
+
+            return Err(parse::Error::new(first.unwrap().span(), &s));
+        }
+    }
+
+    let mut device = None;
+    let mut monotonic = None;
+    let mut peripherals = None;
+
+    for (k, v) in &app.args.custom {
+        let ks = k.to_string();
+
+        match &*ks {
+            "device" => match v {
+                CustomArg::Path(p) => device = Some(p),
+
+                _ => {
+                    return Err(parse::Error::new(
+                        k.span(),
+                        "unexpected argument value; this should be a path",
+                    ));
+                }
+            },
+
+            "monotonic" => match v {
+                CustomArg::Path(p) => monotonic = Some(p),
+
+                _ => {
+                    return Err(parse::Error::new(
+                        k.span(),
+                        "unexpected argument value; this should be a path",
+                    ));
+                }
+            },
+
+            "peripherals" => match v {
+                CustomArg::Bool(x) if app.args.cores == 1 => {
+                    peripherals = if *x { Some(0) } else { None }
+                }
+
+                CustomArg::UInt(x) if app.args.cores != 1 => {
+                    peripherals = if *x < u64::from(app.args.cores) {
+                        Some(*x as u8)
+                    } else {
+                        return Err(parse::Error::new(
+                            k.span(),
+                            &format!(
+                                "unexpected argument value; \
+                                 this should be an integer in the range 0..={}",
+                                app.args.cores
+                            ),
+                        ));
+                    }
+                }
+
+                _ => {
+                    return Err(parse::Error::new(
+                        k.span(),
+                        if app.args.cores == 1 {
+                            "unexpected argument value; this should be a boolean"
+                        } else {
+                            "unexpected argument value; this should be an integer"
+                        },
+                    ));
+                }
+            },
+
+            _ => {
+                return Err(parse::Error::new(k.span(), "unexpected argument"));
+            }
+        }
+    }
+
+    if !analysis.timer_queues.is_empty() && monotonic.is_none() {
         return Err(parse::Error::new(
             Span::call_site(),
-            &*format!(
+            "a `monotonic` timer must be specified to use the `schedule` API",
-                "{} free interrupt{} (`extern {{ .. }}`) {} required to dispatch all soft tasks",
-                ndispatchers,
-                if ndispatchers > 1 { "s" } else { "" },
-                if ndispatchers > 1 { "are" } else { "is" },
-            ),
         ));
     }
 
-    // Check that free interrupts are not being used
+    if let Some(device) = device {
-    for (handler, interrupt) in &app.interrupts {
+        Ok(Extra {
-        let name = interrupt.args.binds(handler);
+            device,
-
+            monotonic,
-        if app.free_interrupts.contains_key(name) {
+            peripherals,
-            return Err(parse::Error::new(
+        })
-                name.span(),
+    } else {
-                "free interrupts (`extern { .. }`) can't be used as interrupt handlers",
+        Err(parse::Error::new(
-            ));
+            Span::call_site(),
-        }
+            "a `device` argument must be specified in `#[rtfm::app]`",
+        ))
     }
-
-    Ok(())
 }

macros/src/codegen/assertions.rs

@@ -0,0 +1,26 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+use crate::analyze::Analysis;
+
+/// Generates compile-time assertions that check that types implement the `Send` / `Sync` traits
+pub fn codegen(core: u8, analysis: &Analysis) -> Vec<TokenStream2> {
+    let mut stmts = vec![];
+
+    // we don't generate *all* assertions on all cores because the user could conditionally import a
+    // type only on some core (e.g. `#[cfg(core = "0")] use some::Type;`)
+
+    if let Some(types) = analysis.send_types.get(&core) {
+        for ty in types {
+            stmts.push(quote!(rtfm::export::assert_send::<#ty>();));
+        }
+    }
+
+    if let Some(types) = analysis.sync_types.get(&core) {
+        for ty in types {
+            stmts.push(quote!(rtfm::export::assert_sync::<#ty>();));
+        }
+    }
+
+    stmts
+}

macros/src/codegen/dispatchers.rs

@@ -0,0 +1,178 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates task dispatchers
+pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    for (&receiver, dispatchers) in &analysis.channels {
+        let interrupts = &analysis.interrupts[&receiver];
+
+        for (&level, channels) in dispatchers {
+            let mut stmts = vec![];
+
+            for (&sender, channel) in channels {
+                let cfg_sender = util::cfg_core(sender, app.args.cores);
+
+                let variants = channel
+                    .tasks
+                    .iter()
+                    .map(|name| {
+                        let cfgs = &app.software_tasks[name].cfgs;
+
+                        quote!(
+                            #(#cfgs)*
+                            #name
+                        )
+                    })
+                    .collect::<Vec<_>>();
+
+                let doc = format!(
+                    "Software tasks spawned from core #{} to be dispatched at priority level {} by core #{}",
+                    sender, level, receiver,
+                );
+                let t = util::spawn_t_ident(receiver, level, sender);
+                items.push(quote!(
+                    #[allow(non_camel_case_types)]
+                    #[derive(Clone, Copy)]
+                    #[doc = #doc]
+                    enum #t {
+                        #(#variants,)*
+                    }
+                ));
+
+                let n = util::capacity_typenum(channel.capacity, true);
+                let rq = util::rq_ident(receiver, level, sender);
+                let (rq_attr, rq_ty, rq_expr) = if sender == receiver {
+                    (
+                        cfg_sender.clone(),
+                        quote!(rtfm::export::SCRQ<#t, #n>),
+                        quote!(rtfm::export::Queue(unsafe {
+                            rtfm::export::iQueue::u8_sc()
+                        })),
+                    )
+                } else {
+                    (
+                        Some(quote!(#[rtfm::export::shared])),
+                        quote!(rtfm::export::MCRQ<#t, #n>),
+                        quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
+                    )
+                };
+
+                let doc = format!(
+                    "Queue of tasks sent by core #{} ready to be dispatched by core #{} at priority level {}",
+                    sender,
+                    receiver,
+                    level
+                );
+                items.push(quote!(
+                    #[doc = #doc]
+                    #rq_attr
+                    static mut #rq: #rq_ty = #rq_expr;
+                ));
+
+                if let Some(ceiling) = channel.ceiling {
+                    items.push(quote!(
+                        #cfg_sender
+                        struct #rq<'a> {
+                            priority: &'a rtfm::export::Priority,
+                        }
+                    ));
+
+                    items.push(util::impl_mutex(
+                        extra,
+                        &[],
+                        cfg_sender.as_ref(),
+                        false,
+                        &rq,
+                        rq_ty,
+                        ceiling,
+                        quote!(&mut #rq),
+                    ));
+                }
+
+                let arms = channel
+                    .tasks
+                    .iter()
+                    .map(|name| {
+                        let task = &app.software_tasks[name];
+                        let cfgs = &task.cfgs;
+                        let fq = util::fq_ident(name, sender);
+                        let inputs = util::inputs_ident(name, sender);
+                        let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
+
+                        let (let_instant, instant) = if app.uses_schedule(receiver) {
+                            let instants = util::instants_ident(name, sender);
+
+                            (
+                                quote!(
+                                    let instant =
+                                        #instants.get_unchecked(usize::from(index)).as_ptr().read();
+                                ),
+                                quote!(, instant),
+                            )
+                        } else {
+                            (quote!(), quote!())
+                        };
+
+                        let locals_new = if task.locals.is_empty() {
+                            quote!()
+                        } else {
+                            quote!(#name::Locals::new(),)
+                        };
+
+                        quote!(
+                            #(#cfgs)*
+                            #t::#name => {
+                                let #tupled =
+                                    #inputs.get_unchecked(usize::from(index)).as_ptr().read();
+                                #let_instant
+                                #fq.split().0.enqueue_unchecked(index);
+                                let priority = &rtfm::export::Priority::new(PRIORITY);
+                                #name(
+                                    #locals_new
+                                    #name::Context::new(priority #instant)
+                                    #(,#pats)*
+                                )
+                            }
+                        )
+                    })
+                    .collect::<Vec<_>>();
+
+                stmts.push(quote!(
+                    while let Some((task, index)) = #rq.split().1.dequeue() {
+                        match task {
+                            #(#arms)*
+                        }
+                    }
+                ));
+            }
+
+            let doc = format!(
+                "Interrupt handler used by core #{} to dispatch tasks at priority {}",
+                receiver, level
+            );
+            let cfg_receiver = util::cfg_core(receiver, app.args.cores);
+            let interrupt = &interrupts[&level];
+            items.push(quote!(
+                #[allow(non_snake_case)]
+                #[doc = #doc]
+                #[no_mangle]
+                #cfg_receiver
+                unsafe fn #interrupt() {
+                    /// The priority of this interrupt handler
+                    const PRIORITY: u8 = #level;
+
+                    rtfm::export::run(PRIORITY, || {
+                        #(#stmts)*
+                    });
+                }
+            ));
+        }
+    }
+
+    items
+}

macros/src/codegen/hardware_tasks.rs

@@ -0,0 +1,121 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+/// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors
+    Vec<TokenStream2>,
+    // root_hardware_tasks -- items that must be placed in the root of the crate:
+    // - `${task}Locals` structs
+    // - `${task}Resources` structs
+    // - `${task}` modules
+    Vec<TokenStream2>,
+    // user_hardware_tasks -- the `#[task]` functions written by the user
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    for (name, task) in &app.hardware_tasks {
+        let core = task.args.core;
+        let cfg_core = util::cfg_core(core, app.args.cores);
+
+        let (let_instant, instant) = if app.uses_schedule(core) {
+            let m = extra.monotonic();
+
+            (
+                Some(quote!(let instant = <#m as rtfm::Monotonic>::now();)),
+                Some(quote!(, instant)),
+            )
+        } else {
+            (None, None)
+        };
+
+        let locals_new = if task.locals.is_empty() {
+            quote!()
+        } else {
+            quote!(#name::Locals::new(),)
+        };
+
+        let symbol = task.args.binds(name);
+        let priority = task.args.priority;
+
+        const_app.push(quote!(
+            #[allow(non_snake_case)]
+            #[no_mangle]
+            #cfg_core
+            unsafe fn #symbol() {
+                const PRIORITY: u8 = #priority;
+
+                #let_instant
+
+                rtfm::export::run(PRIORITY, || {
+                    crate::#name(
+                        #locals_new
+                        #name::Context::new(&rtfm::export::Priority::new(PRIORITY) #instant)
+                    )
+                });
+            }
+        ));
+
+        let mut needs_lt = false;
+
+        // `${task}Resources`
+        if !task.args.resources.is_empty() {
+            let (item, constructor) = resources_struct::codegen(
+                Context::HardwareTask(name),
+                priority,
+                &mut needs_lt,
+                app,
+                analysis,
+            );
+
+            root.push(item);
+
+            const_app.push(constructor);
+        }
+
+        root.push(module::codegen(
+            Context::HardwareTask(name),
+            needs_lt,
+            app,
+            extra,
+        ));
+
+        // `${task}Locals`
+        let mut locals_pat = None;
+        if !task.locals.is_empty() {
+            let (struct_, pat) = locals::codegen(Context::HardwareTask(name), &task.locals, app);
+
+            root.push(struct_);
+            locals_pat = Some(pat);
+        }
+
+        let attrs = &task.attrs;
+        let context = &task.context;
+        let stmts = &task.stmts;
+        user_tasks.push(quote!(
+            #(#attrs)*
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context) {
+                use rtfm::Mutex as _;
+
+                #(#stmts)*
+            }
+        ));
+    }
+
+    (const_app, root, user_tasks)
+}

macros/src/codegen/idle.rs

@@ -0,0 +1,92 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+/// Generates support code for `#[idle]` functions
+pub fn codegen(
+    core: u8,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_idle -- the `${idle}Resources` constructor
+    Option<TokenStream2>,
+    // root_idle -- items that must be placed in the root of the crate:
+    // - the `${idle}Locals` struct
+    // - the `${idle}Resources` struct
+    // - the `${idle}` module, which contains types like `${idle}::Context`
+    Vec<TokenStream2>,
+    // user_idle
+    Option<TokenStream2>,
+    // call_idle
+    TokenStream2,
+) {
+    if let Some(idle) = app.idles.get(&core) {
+        let mut needs_lt = false;
+        let mut const_app = None;
+        let mut root_idle = vec![];
+        let mut locals_pat = None;
+        let mut locals_new = None;
+
+        if !idle.args.resources.is_empty() {
+            let (item, constructor) =
+                resources_struct::codegen(Context::Idle(core), 0, &mut needs_lt, app, analysis);
+
+            root_idle.push(item);
+            const_app = Some(constructor);
+        }
+
+        let name = &idle.name;
+        if !idle.locals.is_empty() {
+            let (locals, pat) = locals::codegen(Context::Idle(core), &idle.locals, app);
+
+            locals_new = Some(quote!(#name::Locals::new()));
+            locals_pat = Some(pat);
+            root_idle.push(locals);
+        }
+
+        root_idle.push(module::codegen(Context::Idle(core), needs_lt, app, extra));
+
+        let cfg_core = util::cfg_core(core, app.args.cores);
+        let attrs = &idle.attrs;
+        let context = &idle.context;
+        let stmts = &idle.stmts;
+        let user_idle = Some(quote!(
+            #cfg_core
+            #(#attrs)*
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context) -> ! {
+                use rtfm::Mutex as _;
+
+                #(#stmts)*
+            }
+        ));
+
+        let call_idle = quote!(#name(
+            #(#locals_new,)*
+            #name::Context::new(&rtfm::export::Priority::new(0))
+        ));
+
+        (
+            const_app,
+            root_idle,
+            user_idle,
+            call_idle,
+        )
+    } else {
+        (
+            None,
+            vec![],
+            None,
+            quote!(loop {
+                rtfm::export::wfi()
+            }),
+        )
+    }
+}

macros/src/codegen/init.rs

@@ -0,0 +1,112 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+/// Generates support code for `#[init]` functions
+pub fn codegen(
+    core: u8,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_idle -- the `${init}Resources` constructor
+    Option<TokenStream2>,
+    // root_init -- items that must be placed in the root of the crate:
+    // - the `${init}Locals` struct
+    // - the `${init}Resources` struct
+    // - the `${init}LateResources` struct
+    // - the `${init}` module, which contains types like `${init}::Context`
+    Vec<TokenStream2>,
+    // user_init -- the `#[init]` function written by the user
+    Option<TokenStream2>,
+    // call_init -- the call to the user `#[init]` if there's one
+    Option<TokenStream2>,
+) {
+    if let Some(init) = app.inits.get(&core) {
+        let cfg_core = util::cfg_core(core, app.args.cores);
+        let mut needs_lt = false;
+        let name = &init.name;
+
+        let mut root_init = vec![];
+
+        let ret = {
+            let late_fields = analysis
+                .late_resources
+                .get(&core)
+                .map(|resources| {
+                    resources
+                        .iter()
+                        .map(|name| {
+                            let ty = &app.late_resources[name].ty;
+
+                            quote!(pub #name: #ty)
+                        })
+                        .collect::<Vec<_>>()
+                })
+                .unwrap_or(vec![]);
+
+            if !late_fields.is_empty() {
+                let late_resources = util::late_resources_ident(&name);
+
+                root_init.push(quote!(
+                    /// Resources initialized at runtime
+                    #cfg_core
+                    #[allow(non_snake_case)]
+                    pub struct #late_resources {
+                        #(#late_fields),*
+                    }
+                ));
+
+                Some(quote!(-> #name::LateResources))
+            } else {
+                None
+            }
+        };
+
+        let mut locals_pat = None;
+        let mut locals_new = None;
+        if !init.locals.is_empty() {
+            let (struct_, pat) = locals::codegen(Context::Init(core), &init.locals, app);
+
+            locals_new = Some(quote!(#name::Locals::new()));
+            locals_pat = Some(pat);
+            root_init.push(struct_);
+        }
+
+        let context = &init.context;
+        let attrs = &init.attrs;
+        let stmts = &init.stmts;
+        let user_init = Some(quote!(
+            #(#attrs)*
+            #cfg_core
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context) #ret {
+                #(#stmts)*
+            }
+        ));
+
+        let mut const_app = None;
+        if !init.args.resources.is_empty() {
+            let (item, constructor) =
+                resources_struct::codegen(Context::Init(core), 0, &mut needs_lt, app, analysis);
+
+            root_init.push(item);
+            const_app = Some(constructor);
+        }
+
+        let call_init =
+            Some(quote!(let late = #name(#(#locals_new,)* #name::Context::new(core.into()));));
+
+        root_init.push(module::codegen(Context::Init(core), needs_lt, app, extra));
+
+        (const_app, root_init, user_init, call_init)
+    } else {
+        (None, vec![], None, None)
+    }
+}

macros/src/codegen/locals.rs

@@ -0,0 +1,94 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{
+    ast::{App, Local},
+    Context, Map,
+};
+
+use crate::codegen::util;
+
+pub fn codegen(
+    ctxt: Context,
+    locals: &Map<Local>,
+    app: &App,
+) -> (
+    // locals
+    TokenStream2,
+    // pat
+    TokenStream2,
+) {
+    assert!(!locals.is_empty());
+
+    let runs_once = ctxt.runs_once();
+    let ident = util::locals_ident(ctxt, app);
+
+    let mut lt = None;
+    let mut fields = vec![];
+    let mut items = vec![];
+    let mut names = vec![];
+    let mut values = vec![];
+    let mut pats = vec![];
+    let mut has_cfgs = false;
+
+    for (name, local) in locals {
+        let lt = if runs_once {
+            quote!('static)
+        } else {
+            lt = Some(quote!('a));
+            quote!('a)
+        };
+
+        let cfgs = &local.cfgs;
+        has_cfgs |= !cfgs.is_empty();
+
+        let expr = &local.expr;
+        let ty = &local.ty;
+        fields.push(quote!(
+            #(#cfgs)*
+            #name: &#lt mut #ty
+        ));
+        items.push(quote!(
+            #(#cfgs)*
+            static mut #name: #ty = #expr
+        ));
+        values.push(quote!(
+            #(#cfgs)*
+            #name: &mut #name
+        ));
+        names.push(name);
+        pats.push(quote!(
+            #(#cfgs)*
+            #name
+        ));
+    }
+
+    if lt.is_some() && has_cfgs {
+        fields.push(quote!(__marker__: core::marker::PhantomData<&'a mut ()>));
+        values.push(quote!(__marker__: core::marker::PhantomData));
+    }
+
+    let locals = quote!(
+        #[allow(non_snake_case)]
+        #[doc(hidden)]
+        pub struct #ident<#lt> {
+            #(#fields),*
+        }
+
+        impl<#lt> #ident<#lt> {
+            #[inline(always)]
+            unsafe fn new() -> Self {
+                #(#items;)*
+
+                #ident {
+                    #(#values),*
+                }
+            }
+        }
+    );
+
+    let ident = ctxt.ident(app);
+    (
+        locals,
+        quote!(#ident::Locals { #(#pats,)* .. }: #ident::Locals),
+    )
+}

macros/src/codegen/module.rs

@@ -0,0 +1,328 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{check::Extra, codegen::util};
+
+pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> TokenStream2 {
+    let mut items = vec![];
+    let mut fields = vec![];
+    let mut values = vec![];
+
+    let name = ctxt.ident(app);
+
+    let core = ctxt.core(app);
+    let mut needs_instant = false;
+    let mut lt = None;
+    match ctxt {
+        Context::Init(core) => {
+            if app.uses_schedule(core) {
+                let m = extra.monotonic();
+
+                fields.push(quote!(
+                    /// System start time = `Instant(0 /* cycles */)`
+                    pub start: <#m as rtfm::Monotonic>::Instant
+                ));
+
+                values.push(quote!(start: <#m as rtfm::Monotonic>::zero()));
+
+                fields.push(quote!(
+                    /// Core (Cortex-M) peripherals minus the SysTick
+                    pub core: rtfm::Peripherals
+                ));
+            } else {
+                fields.push(quote!(
+                    /// Core (Cortex-M) peripherals
+                    pub core: rtfm::export::Peripherals
+                ));
+            }
+
+            if extra.peripherals == Some(core) {
+                let device = extra.device;
+
+                fields.push(quote!(
+                    /// Device peripherals
+                    pub device: #device::Peripherals
+                ));
+
+                values.push(quote!(device: #device::Peripherals::steal()));
+            }
+
+            values.push(quote!(core));
+        }
+
+        Context::Idle(..) => {}
+
+        Context::HardwareTask(..) => {
+            if app.uses_schedule(core) {
+                let m = extra.monotonic();
+
+                fields.push(quote!(
+                    /// Time at which this handler started executing
+                    pub start: <#m as rtfm::Monotonic>::Instant
+                ));
+
+                values.push(quote!(start: instant));
+
+                needs_instant = true;
+            }
+        }
+
+        Context::SoftwareTask(..) => {
+            if app.uses_schedule(core) {
+                let m = extra.monotonic();
+
+                fields.push(quote!(
+                    /// The time at which this task was scheduled to run
+                    pub scheduled: <#m as rtfm::Monotonic>::Instant
+                ));
+
+                values.push(quote!(scheduled: instant));
+
+                needs_instant = true;
+            }
+        }
+    }
+
+    if ctxt.has_locals(app) {
+        let ident = util::locals_ident(ctxt, app);
+        items.push(quote!(
+            #[doc(inline)]
+            pub use super::#ident as Locals;
+        ));
+    }
+
+    if ctxt.has_resources(app) {
+        let ident = util::resources_ident(ctxt, app);
+        let lt = if resources_tick {
+            lt = Some(quote!('a));
+            Some(quote!('a))
+        } else {
+            None
+        };
+
+        items.push(quote!(
+            #[doc(inline)]
+            pub use super::#ident as Resources;
+        ));
+
+        fields.push(quote!(
+            /// Resources this task has access to
+            pub resources: Resources<#lt>
+        ));
+
+        let priority = if ctxt.is_init() {
+            None
+        } else {
+            Some(quote!(priority))
+        };
+        values.push(quote!(resources: Resources::new(#priority)));
+    }
+
+    if ctxt.uses_schedule(app) {
+        let doc = "Tasks that can be `schedule`-d from this context";
+        if ctxt.is_init() {
+            items.push(quote!(
+                #[doc = #doc]
+                #[derive(Clone, Copy)]
+                pub struct Schedule {
+                    _not_send: core::marker::PhantomData<*mut ()>,
+                }
+            ));
+
+            fields.push(quote!(
+                #[doc = #doc]
+                pub schedule: Schedule
+            ));
+
+            values.push(quote!(
+                schedule: Schedule { _not_send: core::marker::PhantomData }
+            ));
+        } else {
+            lt = Some(quote!('a));
+
+            items.push(quote!(
+                #[doc = #doc]
+                #[derive(Clone, Copy)]
+                pub struct Schedule<'a> {
+                    priority: &'a rtfm::export::Priority,
+                }
+
+                impl<'a> Schedule<'a> {
+                    #[doc(hidden)]
+                    #[inline(always)]
+                    pub unsafe fn priority(&self) -> &rtfm::export::Priority {
+                        &self.priority
+                    }
+                }
+            ));
+
+            fields.push(quote!(
+                #[doc = #doc]
+                pub schedule: Schedule<'a>
+            ));
+
+            values.push(quote!(
+                schedule: Schedule { priority }
+            ));
+        }
+    }
+
+    if ctxt.uses_spawn(app) {
+        let doc = "Tasks that can be `spawn`-ed from this context";
+        if ctxt.is_init() {
+            fields.push(quote!(
+                #[doc = #doc]
+                pub spawn: Spawn
+            ));
+
+            items.push(quote!(
+                #[doc = #doc]
+                #[derive(Clone, Copy)]
+                pub struct Spawn {
+                    _not_send: core::marker::PhantomData<*mut ()>,
+                }
+            ));
+
+            values.push(quote!(spawn: Spawn { _not_send: core::marker::PhantomData }));
+        } else {
+            lt = Some(quote!('a));
+
+            fields.push(quote!(
+                #[doc = #doc]
+                pub spawn: Spawn<'a>
+            ));
+
+            let mut instant_method = None;
+            if ctxt.is_idle() {
+                items.push(quote!(
+                    #[doc = #doc]
+                    #[derive(Clone, Copy)]
+                    pub struct Spawn<'a> {
+                        priority: &'a rtfm::export::Priority,
+                    }
+                ));
+
+                values.push(quote!(spawn: Spawn { priority }));
+            } else {
+                let instant_field = if app.uses_schedule(core) {
+                    let m = extra.monotonic();
+
+                    needs_instant = true;
+                    instant_method = Some(quote!(
+                        pub unsafe fn instant(&self) -> <#m as rtfm::Monotonic>::Instant {
+                            self.instant
+                        }
+                    ));
+                    Some(quote!(instant: <#m as rtfm::Monotonic>::Instant,))
+                } else {
+                    None
+                };
+
+                items.push(quote!(
+                    /// Tasks that can be spawned from this context
+                    #[derive(Clone, Copy)]
+                    pub struct Spawn<'a> {
+                        #instant_field
+                        priority: &'a rtfm::export::Priority,
+                    }
+                ));
+
+                let _instant = if needs_instant {
+                    Some(quote!(, instant))
+                } else {
+                    None
+                };
+                values.push(quote!(
+                    spawn: Spawn { priority #_instant }
+                ));
+            }
+
+            items.push(quote!(
+                impl<'a> Spawn<'a> {
+                    #[doc(hidden)]
+                    #[inline(always)]
+                    pub unsafe fn priority(&self) -> &rtfm::export::Priority {
+                        self.priority
+                    }
+
+                    #instant_method
+                }
+            ));
+        }
+    }
+
+    if let Context::Init(core) = ctxt {
+        let init = &app.inits[&core];
+        if init.returns_late_resources {
+            let late_resources = util::late_resources_ident(&init.name);
+
+            items.push(quote!(
+                #[doc(inline)]
+                pub use super::#late_resources as LateResources;
+            ));
+        }
+    }
+
+    let doc = match ctxt {
+        Context::Idle(_) => "Idle loop",
+        Context::Init(_) => "Initialization function",
+        Context::HardwareTask(_) => "Hardware task",
+        Context::SoftwareTask(_) => "Software task",
+    };
+
+    let core = if ctxt.is_init() {
+        if app.uses_schedule(core) {
+            Some(quote!(core: rtfm::Peripherals,))
+        } else {
+            Some(quote!(core: rtfm::export::Peripherals,))
+        }
+    } else {
+        None
+    };
+
+    let priority = if ctxt.is_init() {
+        None
+    } else {
+        Some(quote!(priority: &#lt rtfm::export::Priority))
+    };
+
+    let instant = if needs_instant {
+        let m = extra.monotonic();
+
+        Some(quote!(, instant: <#m as rtfm::Monotonic>::Instant))
+    } else {
+        None
+    };
+
+    items.push(quote!(
+        /// Execution context
+        pub struct Context<#lt> {
+            #(#fields,)*
+        }
+
+        impl<#lt> Context<#lt> {
+            #[inline(always)]
+            pub unsafe fn new(#core #priority #instant) -> Self {
+                Context {
+                    #(#values,)*
+                }
+            }
+        }
+    ));
+
+    if !items.is_empty() {
+        let cfg_core = util::cfg_core(ctxt.core(app), app.args.cores);
+
+        quote!(
+            #[allow(non_snake_case)]
+            #[doc = #doc]
+            #cfg_core
+            pub mod #name {
+                #(#items)*
+            }
+        )
+    } else {
+        quote!()
+    }
+}

macros/src/codegen/post_init.rs

@@ -0,0 +1,139 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates code that runs after `#[init]` returns
+pub fn codegen(
+    core: u8,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (Vec<TokenStream2>, Vec<TokenStream2>) {
+    let mut const_app = vec![];
+    let mut stmts = vec![];
+
+    // initialize late resources
+    if let Some(late_resources) = analysis.late_resources.get(&core) {
+        for name in late_resources {
+            // if it's live
+            if analysis.locations.get(name).is_some() {
+                stmts.push(quote!(#name.as_mut_ptr().write(late.#name);));
+            }
+        }
+    }
+
+    if analysis.timer_queues.is_empty() {
+        // cross-initialization barriers -- notify *other* cores that their resources have been
+        // initialized
+        if analysis.initialization_barriers.contains_key(&core) {
+            let ib = util::init_barrier(core);
+
+            const_app.push(quote!(
+                #[rtfm::export::shared]
+                static #ib: rtfm::export::Barrier = rtfm::export::Barrier::new();
+            ));
+
+            stmts.push(quote!(
+                #ib.release();
+            ));
+        }
+
+        // then wait until the other cores have initialized *our* resources
+        for (&initializer, users) in &analysis.initialization_barriers {
+            if users.contains(&core) {
+                let ib = util::init_barrier(initializer);
+
+                stmts.push(quote!(
+                    #ib.wait();
+                ));
+            }
+        }
+
+        // cross-spawn barriers: wait until other cores are ready to receive messages
+        for (&receiver, senders) in &analysis.spawn_barriers {
+            if senders.get(&core) == Some(&false) {
+                let sb = util::spawn_barrier(receiver);
+
+                stmts.push(quote!(
+                    #sb.wait();
+                ));
+            }
+        }
+    } else {
+        // if the `schedule` API is used then we'll synchronize all cores to leave the
+        // `init`-ialization phase at the same time. In this case the rendezvous barrier makes the
+        // cross-initialization and spawn barriers unnecessary
+
+        let m = extra.monotonic();
+
+        if analysis.timer_queues.len() == 1 {
+            // reset the monotonic timer / counter
+            stmts.push(quote!(
+                <#m as rtfm::Monotonic>::reset();
+            ));
+        } else {
+            // in the multi-core case we need a rendezvous (RV) barrier between *all* the cores that
+            // use the `schedule` API; otherwise one of the cores could observe the before-reset
+            // value of the monotonic counter
+            // (this may be easier to implement with `AtomicU8.fetch_sub` but that API is not
+            // available on ARMv6-M)
+
+            // this core will reset the monotonic counter
+            const FIRST: u8 = 0;
+
+            if core == FIRST {
+                for &i in analysis.timer_queues.keys() {
+                    let rv = util::rendezvous_ident(i);
+
+                    const_app.push(quote!(
+                        #[rtfm::export::shared]
+                        static #rv: rtfm::export::Barrier = rtfm::export::Barrier::new();
+                    ));
+
+                    // wait until all the other cores have reached the RV point
+                    if i != FIRST {
+                        stmts.push(quote!(
+                            #rv.wait();
+                        ));
+                    }
+                }
+
+                let rv = util::rendezvous_ident(core);
+                stmts.push(quote!(
+                    // the compiler fences are used to prevent `reset` from being re-ordering wrt to
+                    // the atomic operations -- we don't know if `reset` contains load or store
+                    // operations
+
+                    core::sync::atomic::compiler_fence(core::sync::atomic::Ordering::SeqCst);
+
+                    // reset the counter
+                    <#m as rtfm::Monotonic>::reset();
+
+                    core::sync::atomic::compiler_fence(core::sync::atomic::Ordering::SeqCst);
+
+                    // now unblock all the other cores
+                    #rv.release();
+                ));
+            } else {
+                let rv = util::rendezvous_ident(core);
+
+                // let the first core know that we have reached the RV point
+                stmts.push(quote!(
+                    #rv.release();
+                ));
+
+                let rv = util::rendezvous_ident(FIRST);
+
+                // wait until the first core has reset the monotonic timer
+                stmts.push(quote!(
+                    #rv.wait();
+                ));
+            }
+        }
+    }
+
+    // enable the interrupts -- this completes the `init`-ialization phase
+    stmts.push(quote!(rtfm::export::interrupt::enable();));
+
+    (const_app, stmts)
+}

macros/src/codegen/pre_init.rs

@@ -0,0 +1,150 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::{App, HardwareTaskKind};
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates code that runs before `#[init]`
+pub fn codegen(
+    core: u8,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // `const_app_pre_init` -- `static` variables for barriers
+    Vec<TokenStream2>,
+    // `pre_init_stmts`
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut stmts = vec![];
+
+    // disable interrupts -- `init` must run with interrupts disabled
+    stmts.push(quote!(rtfm::export::interrupt::disable();));
+
+    // populate this core `FreeQueue`s
+    for (name, senders) in &analysis.free_queues {
+        let task = &app.software_tasks[name];
+        let cap = task.args.capacity;
+
+        for &sender in senders.keys() {
+            if sender == core {
+                let fq = util::fq_ident(name, sender);
+
+                stmts.push(quote!(
+                    (0..#cap).for_each(|i| #fq.enqueue_unchecked(i));
+                ));
+            }
+        }
+    }
+
+    stmts.push(quote!(
+        let mut core = rtfm::export::Peripherals::steal();
+    ));
+
+    let device = extra.device;
+    let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS);
+
+    // unmask interrupts and set their priorities
+    for (&priority, name) in analysis
+        .interrupts
+        .get(&core)
+        .iter()
+        .flat_map(|interrupts| *interrupts)
+        .chain(app.hardware_tasks.iter().flat_map(|(name, task)| {
+            if task.kind == HardwareTaskKind::Interrupt {
+                Some((&task.args.priority, task.args.binds(name)))
+            } else {
+                // we do exceptions in another pass
+                None
+            }
+        }))
+    {
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
+        stmts.push(quote!(
+            core.NVIC.set_priority(
+                #device::Interrupt::#name,
+                rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+            );
+        ));
+
+        // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended
+        // interrupt is implementation defined
+        stmts.push(quote!(core.NVIC.enable(#device::Interrupt::#name);));
+    }
+
+    // cross-spawn barriers: now that priorities have been set and the interrupts have been unmasked
+    // we are ready to receive messages from *other* cores
+    if analysis.spawn_barriers.contains_key(&core) {
+        let sb = util::spawn_barrier(core);
+
+        const_app.push(quote!(
+            #[rtfm::export::shared]
+            static #sb: rtfm::export::Barrier = rtfm::export::Barrier::new();
+        ));
+
+        // unblock cores that may send us a message
+        stmts.push(quote!(
+            #sb.release();
+        ));
+    }
+
+    // set exception priorities
+    for (name, priority) in app.hardware_tasks.iter().filter_map(|(name, task)| {
+        if task.kind == HardwareTaskKind::Exception {
+            Some((task.args.binds(name), task.args.priority))
+        } else {
+            None
+        }
+    }) {
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        stmts.push(quote!(core.SCB.set_priority(
+            rtfm::export::SystemHandler::#name,
+            rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+        );));
+    }
+
+    // initialize the SysTick
+    if let Some(tq) = analysis.timer_queues.get(&core) {
+        let priority = tq.priority;
+
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        stmts.push(quote!(core.SCB.set_priority(
+            rtfm::export::SystemHandler::SysTick,
+            rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+        );));
+
+        stmts.push(quote!(
+            core.SYST.set_clock_source(rtfm::export::SystClkSource::Core);
+            core.SYST.enable_counter();
+            core.DCB.enable_trace();
+        ));
+    }
+
+    // if there's no user `#[idle]` then optimize returning from interrupt handlers
+    if app.idles.get(&core).is_none() {
+        // Set SLEEPONEXIT bit to enter sleep mode when returning from ISR
+        stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);));
+    }
+
+    // cross-spawn barriers: wait until other cores are ready to receive messages
+    for (&receiver, senders) in &analysis.spawn_barriers {
+        // only block here if `init` can send messages to `receiver`
+        if senders.get(&core) == Some(&true) {
+            let sb = util::spawn_barrier(receiver);
+
+            stmts.push(quote!(
+                #sb.wait();
+            ));
+        }
+    }
+
+    (const_app, stmts)
+}

macros/src/codegen/resources.rs

@@ -0,0 +1,115 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{
+    analyze::{Location, Ownership},
+    ast::App,
+};
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates `static [mut]` variables and resource proxies
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app -- the `static [mut]` variables behind the proxies
+    Vec<TokenStream2>,
+    // mod_resources -- the `resources` module
+    TokenStream2,
+) {
+    let mut const_app = vec![];
+    let mut mod_resources = vec![];
+
+    for (name, res, expr, loc) in app.resources(analysis) {
+        let cfgs = &res.cfgs;
+        let ty = &res.ty;
+
+        {
+            let loc_attr = match loc {
+                Location::Owned {
+                    core,
+                    cross_initialized: false,
+                } => util::cfg_core(*core, app.args.cores),
+
+                // shared `static`s and cross-initialized resources need to be in `.shared` memory
+                _ => Some(quote!(#[rtfm::export::shared])),
+            };
+
+            let (ty, expr) = if let Some(expr) = expr {
+                (quote!(#ty), quote!(#expr))
+            } else {
+                (
+                    quote!(core::mem::MaybeUninit<#ty>),
+                    quote!(core::mem::MaybeUninit::uninit()),
+                )
+            };
+
+            let attrs = &res.attrs;
+            const_app.push(quote!(
+                #loc_attr
+                #(#attrs)*
+                #(#cfgs)*
+                static mut #name: #ty = #expr;
+            ));
+        }
+
+        // generate a resource proxy if needed
+        if res.mutability.is_some() {
+            if let Some(Ownership::Shared { ceiling }) = analysis.ownerships.get(name) {
+                let cfg_core = util::cfg_core(loc.core().expect("UNREACHABLE"), app.args.cores);
+
+                mod_resources.push(quote!(
+                    #(#cfgs)*
+                    #cfg_core
+                    pub struct #name<'a> {
+                        priority: &'a Priority,
+                    }
+
+                    #(#cfgs)*
+                    #cfg_core
+                    impl<'a> #name<'a> {
+                        #[inline(always)]
+                        pub unsafe fn new(priority: &'a Priority) -> Self {
+                            #name { priority }
+                        }
+
+                        #[inline(always)]
+                        pub unsafe fn priority(&self) -> &Priority {
+                            self.priority
+                        }
+                    }
+                ));
+
+                let ptr = if expr.is_none() {
+                    quote!(#name.as_mut_ptr())
+                } else {
+                    quote!(&mut #name)
+                };
+
+                const_app.push(util::impl_mutex(
+                    extra,
+                    cfgs,
+                    cfg_core.as_ref(),
+                    true,
+                    name,
+                    quote!(#ty),
+                    *ceiling,
+                    ptr,
+                ));
+            }
+        }
+    }
+
+    let mod_resources = if mod_resources.is_empty() {
+        quote!()
+    } else {
+        quote!(mod resources {
+            use rtfm::export::Priority;
+
+            #(#mod_resources)*
+        })
+    };
+
+    (const_app, mod_resources)
+}

macros/src/codegen/resources_struct.rs

@@ -0,0 +1,178 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{analyze::Analysis, codegen::util};
+
+pub fn codegen(
+    ctxt: Context,
+    priority: u8,
+    needs_lt: &mut bool,
+    app: &App,
+    analysis: &Analysis,
+) -> (TokenStream2, TokenStream2) {
+    let mut lt = None;
+
+    let resources = match ctxt {
+        Context::Init(core) => &app.inits[&core].args.resources,
+        Context::Idle(core) => &app.idles[&core].args.resources,
+        Context::HardwareTask(name) => &app.hardware_tasks[name].args.resources,
+        Context::SoftwareTask(name) => &app.software_tasks[name].args.resources,
+    };
+
+    let mut fields = vec![];
+    let mut values = vec![];
+    let mut has_cfgs = false;
+
+    for name in resources {
+        let (res, expr) = app.resource(name).expect("UNREACHABLE");
+
+        let cfgs = &res.cfgs;
+        has_cfgs |= !cfgs.is_empty();
+
+        let mut_ = res.mutability;
+        let ty = &res.ty;
+
+        if ctxt.is_init() {
+            if !analysis.ownerships.contains_key(name) {
+                // owned by `init`
+                fields.push(quote!(
+                    #(#cfgs)*
+                    pub #name: &'static #mut_ #ty
+                ));
+
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: &#mut_ #name
+                ));
+            } else {
+                // owned by someone else
+                lt = Some(quote!('a));
+
+                fields.push(quote!(
+                    #(#cfgs)*
+                    pub #name: &'a mut #ty
+                ));
+
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: &mut #name
+                ));
+            }
+        } else {
+            let ownership = &analysis.ownerships[name];
+
+            if ownership.needs_lock(priority) {
+                if mut_.is_none() {
+                    lt = Some(quote!('a));
+
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: &'a #ty
+                    ));
+                } else {
+                    // resource proxy
+                    lt = Some(quote!('a));
+
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: resources::#name<'a>
+                    ));
+
+                    values.push(quote!(
+                        #(#cfgs)*
+                        #name: resources::#name::new(priority)
+
+                    ));
+
+                    continue;
+                }
+            } else {
+                let lt = if ctxt.runs_once() {
+                    quote!('static)
+                } else {
+                    lt = Some(quote!('a));
+                    quote!('a)
+                };
+
+                if ownership.is_owned() || mut_.is_none() {
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: &#lt #mut_ #ty
+                    ));
+                } else {
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: &#lt mut #ty
+                    ));
+                }
+            }
+
+            let is_late = expr.is_none();
+            if is_late {
+                let expr = if mut_.is_some() {
+                    quote!(&mut *#name.as_mut_ptr())
+                } else {
+                    quote!(&*#name.as_ptr())
+                };
+
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: #expr
+                ));
+            } else {
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: &#mut_ #name
+                ));
+            }
+        }
+    }
+
+    if lt.is_some() {
+        *needs_lt = true;
+
+        // the struct could end up empty due to `cfg`s leading to an error due to `'a` being unused
+        if has_cfgs {
+            fields.push(quote!(
+                #[doc(hidden)]
+                pub __marker__: core::marker::PhantomData<&'a ()>
+            ));
+
+            values.push(quote!(__marker__: core::marker::PhantomData))
+        }
+    }
+
+    let core = ctxt.core(app);
+    let cores = app.args.cores;
+    let cfg_core = util::cfg_core(core, cores);
+    let doc = format!("Resources `{}` has access to", ctxt.ident(app));
+    let ident = util::resources_ident(ctxt, app);
+    let item = quote!(
+        #cfg_core
+        #[allow(non_snake_case)]
+        #[doc = #doc]
+        pub struct #ident<#lt> {
+            #(#fields,)*
+        }
+    );
+
+    let arg = if ctxt.is_init() {
+        None
+    } else {
+        Some(quote!(priority: &#lt rtfm::export::Priority))
+    };
+    let constructor = quote!(
+        #cfg_core
+        impl<#lt> #ident<#lt> {
+            #[inline(always)]
+            unsafe fn new(#arg) -> Self {
+                #ident {
+                    #(#values,)*
+                }
+            }
+        }
+    );
+
+    (item, constructor)
+}

macros/src/codegen/schedule.rs

@@ -0,0 +1,95 @@
+use std::collections::{BTreeMap, HashSet};
+
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{
+    check::Extra,
+    codegen::{schedule_body, util},
+};
+
+/// Generates all `${ctxt}::Schedule` methods
+pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    let mut seen = BTreeMap::<u8, HashSet<_>>::new();
+    for (scheduler, schedulees) in app.schedule_callers() {
+        let m = extra.monotonic();
+        let instant = quote!(<#m as rtfm::Monotonic>::Instant);
+
+        let sender = scheduler.core(app);
+        let cfg_sender = util::cfg_core(sender, app.args.cores);
+        let seen = seen.entry(sender).or_default();
+        let mut methods = vec![];
+
+        for name in schedulees {
+            let schedulee = &app.software_tasks[name];
+            let cfgs = &schedulee.cfgs;
+            let (args, _, untupled, ty) = util::regroup_inputs(&schedulee.inputs);
+            let args = &args;
+
+            if scheduler.is_init() {
+                // `init` uses a special `schedule` implementation; it doesn't use the
+                // `schedule_${name}` functions which are shared by other contexts
+
+                let body = schedule_body::codegen(scheduler, &name, app);
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
+                        #body
+                    }
+                ));
+            } else {
+                let schedule = util::schedule_ident(name, sender);
+
+                if !seen.contains(name) {
+                    // generate a `schedule_${name}_S${sender}` function
+                    seen.insert(name);
+
+                    let body = schedule_body::codegen(scheduler, &name, app);
+
+                    items.push(quote!(
+                        #cfg_sender
+                        #(#cfgs)*
+                        unsafe fn #schedule(
+                            priority: &rtfm::export::Priority,
+                            instant: #instant
+                            #(,#args)*
+                        ) -> Result<(), #ty> {
+                            #body
+                        }
+                    ));
+                }
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    #[inline(always)]
+                    fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
+                        unsafe {
+                            #schedule(self.priority(), instant #(,#untupled)*)
+                        }
+                    }
+                ));
+            }
+        }
+
+        let lt = if scheduler.is_init() {
+            None
+        } else {
+            Some(quote!('a))
+        };
+
+        let scheduler = scheduler.ident(app);
+        debug_assert!(!methods.is_empty());
+        items.push(quote!(
+            #cfg_sender
+            impl<#lt> #scheduler::Schedule<#lt> {
+                #(#methods)*
+            }
+        ));
+    }
+
+    items
+}

macros/src/codegen/schedule_body.rs

@@ -0,0 +1,61 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+use syn::Ident;
+
+use crate::codegen::util;
+
+pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 {
+    let sender = scheduler.core(app);
+    let schedulee = &app.software_tasks[name];
+    let receiver = schedulee.args.core;
+
+    let fq = util::fq_ident(name, sender);
+    let tq = util::tq_ident(sender);
+    let (dequeue, enqueue) = if scheduler.is_init() {
+        (quote!(#fq.dequeue()), quote!(#tq.enqueue_unchecked(nr);))
+    } else {
+        (
+            quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
+            quote!((#tq { priority }).lock(|tq| tq.enqueue_unchecked(nr));),
+        )
+    };
+
+    let write_instant = if app.uses_schedule(receiver) {
+        let instants = util::instants_ident(name, sender);
+
+        Some(quote!(
+            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
+        ))
+    } else {
+        None
+    };
+
+    let (_, tupled, _, _) = util::regroup_inputs(&schedulee.inputs);
+    let inputs = util::inputs_ident(name, sender);
+    let t = util::schedule_t_ident(sender);
+    quote!(
+        unsafe {
+            use rtfm::Mutex as _;
+
+            let input = #tupled;
+            if let Some(index) = #dequeue {
+                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
+
+                #write_instant
+
+                let nr = rtfm::export::NotReady {
+                    instant,
+                    index,
+                    task: #t::#name,
+                };
+
+                #enqueue
+
+                Ok(())
+            } else {
+                Err(input)
+            }
+        }
+    )
+}

macros/src/codegen/software_tasks.rs

@@ -0,0 +1,169 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_software_tasks -- free queues, buffers and `${task}Resources` constructors
+    Vec<TokenStream2>,
+    // root_software_tasks -- items that must be placed in the root of the crate:
+    // - `${task}Locals` structs
+    // - `${task}Resources` structs
+    // - `${task}` modules
+    Vec<TokenStream2>,
+    // user_software_tasks -- the `#[task]` functions written by the user
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    for (name, task) in &app.software_tasks {
+        let receiver = task.args.core;
+
+        let inputs = &task.inputs;
+        let (_, _, _, input_ty) = util::regroup_inputs(inputs);
+
+        let cap = task.args.capacity;
+        let cap_lit = util::capacity_literal(cap);
+        let cap_ty = util::capacity_typenum(cap, true);
+
+        // create free queues and inputs / instants buffers
+        if let Some(free_queues) = analysis.free_queues.get(name) {
+            for (&sender, &ceiling) in free_queues {
+                let cfg_sender = util::cfg_core(sender, app.args.cores);
+                let fq = util::fq_ident(name, sender);
+
+                let (loc, fq_ty, fq_expr) = if receiver == sender {
+                    (
+                        cfg_sender.clone(),
+                        quote!(rtfm::export::SCFQ<#cap_ty>),
+                        quote!(rtfm::export::Queue(unsafe {
+                            rtfm::export::iQueue::u8_sc()
+                        })),
+                    )
+                } else {
+                    (
+                        Some(quote!(#[rtfm::export::shared])),
+                        quote!(rtfm::export::MCFQ<#cap_ty>),
+                        quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
+                    )
+                };
+                let loc = &loc;
+
+                const_app.push(quote!(
+                    /// Queue version of a free-list that keeps track of empty slots in
+                    /// the following buffers
+                    #loc
+                    static mut #fq: #fq_ty = #fq_expr;
+                ));
+
+                // Generate a resource proxy if needed
+                if let Some(ceiling) = ceiling {
+                    const_app.push(quote!(
+                        #cfg_sender
+                        struct #fq<'a> {
+                            priority: &'a rtfm::export::Priority,
+                        }
+                    ));
+
+                    const_app.push(util::impl_mutex(
+                        extra,
+                        &[],
+                        cfg_sender.as_ref(),
+                        false,
+                        &fq,
+                        fq_ty,
+                        ceiling,
+                        quote!(&mut #fq),
+                    ));
+                }
+
+                let ref elems = (0..cap)
+                    .map(|_| quote!(core::mem::MaybeUninit::uninit()))
+                    .collect::<Vec<_>>();
+
+                if app.uses_schedule(receiver) {
+                    let m = extra.monotonic();
+                    let instants = util::instants_ident(name, sender);
+
+                    const_app.push(quote!(
+                        #loc
+                        /// Buffer that holds the instants associated to the inputs of a task
+                        static mut #instants:
+                            [core::mem::MaybeUninit<<#m as rtfm::Monotonic>::Instant>; #cap_lit] =
+                            [#(#elems,)*];
+                    ));
+                }
+
+                let inputs = util::inputs_ident(name, sender);
+                const_app.push(quote!(
+                    #loc
+                    /// Buffer that holds the inputs of a task
+                    static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+                        [#(#elems,)*];
+                ));
+            }
+        }
+
+        // `${task}Resources`
+        let mut needs_lt = false;
+        if !task.args.resources.is_empty() {
+            let (item, constructor) = resources_struct::codegen(
+                Context::SoftwareTask(name),
+                task.args.priority,
+                &mut needs_lt,
+                app,
+                analysis,
+            );
+
+            root.push(item);
+
+            const_app.push(constructor);
+        }
+
+        // `${task}Locals`
+        let mut locals_pat = None;
+        if !task.locals.is_empty() {
+            let (struct_, pat) = locals::codegen(Context::SoftwareTask(name), &task.locals, app);
+
+            locals_pat = Some(pat);
+            root.push(struct_);
+        }
+
+        let cfg_receiver = util::cfg_core(receiver, app.args.cores);
+        let context = &task.context;
+        let attrs = &task.attrs;
+        let cfgs = &task.cfgs;
+        let stmts = &task.stmts;
+        user_tasks.push(quote!(
+            #(#attrs)*
+            #(#cfgs)*
+            #cfg_receiver
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
+                use rtfm::Mutex as _;
+
+                #(#stmts)*
+            }
+        ));
+
+        root.push(module::codegen(
+            Context::SoftwareTask(name),
+            needs_lt,
+            app,
+            extra,
+        ));
+    }
+
+    (const_app, root, user_tasks)
+}

macros/src/codegen/spawn.rs

@@ -0,0 +1,127 @@
+use std::collections::{BTreeMap, HashSet};
+
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{spawn_body, util},
+};
+
+/// Generates all `${ctxt}::Spawn` methods
+pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    let mut seen = BTreeMap::<u8, HashSet<_>>::new();
+    for (spawner, spawnees) in app.spawn_callers() {
+        let sender = spawner.core(app);
+        let cfg_sender = util::cfg_core(sender, app.args.cores);
+        let seen = seen.entry(sender).or_default();
+        let mut methods = vec![];
+
+        for name in spawnees {
+            let spawnee = &app.software_tasks[name];
+            let receiver = spawnee.args.core;
+            let cfgs = &spawnee.cfgs;
+            let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
+            let args = &args;
+
+            if spawner.is_init() {
+                // `init` uses a special spawn implementation; it doesn't use the `spawn_${name}`
+                // functions which are shared by other contexts
+
+                let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
+
+                let let_instant = if app.uses_schedule(receiver) {
+                    let m = extra.monotonic();
+
+                    Some(quote!(let instant = unsafe { <#m as rtfm::Monotonic>::zero() };))
+                } else {
+                    None
+                };
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    fn #name(&self #(,#args)*) -> Result<(), #ty> {
+                        #let_instant
+                        #body
+                    }
+                ));
+            } else {
+                let spawn = util::spawn_ident(name, sender);
+
+                if !seen.contains(name) {
+                    // generate a `spawn_${name}_S${sender}` function
+                    seen.insert(name);
+
+                    let instant = if app.uses_schedule(receiver) {
+                        let m = extra.monotonic();
+
+                        Some(quote!(, instant: <#m as rtfm::Monotonic>::Instant))
+                    } else {
+                        None
+                    };
+
+                    let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
+
+                    items.push(quote!(
+                        #cfg_sender
+                        #(#cfgs)*
+                        unsafe fn #spawn(
+                            priority: &rtfm::export::Priority
+                            #instant
+                            #(,#args)*
+                        ) -> Result<(), #ty> {
+                            #body
+                        }
+                    ));
+                }
+
+                let (let_instant, instant) = if app.uses_schedule(receiver) {
+                    let m = extra.monotonic();
+
+                    (
+                        Some(if spawner.is_idle() {
+                            quote!(let instant = <#m as rtfm::Monotonic>::now();)
+                        } else {
+                            quote!(let instant = self.instant();)
+                        }),
+                        Some(quote!(, instant)),
+                    )
+                } else {
+                    (None, None)
+                };
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    #[inline(always)]
+                    fn #name(&self #(,#args)*) -> Result<(), #ty> {
+                        unsafe {
+                            #let_instant
+                            #spawn(self.priority() #instant #(,#untupled)*)
+                        }
+                    }
+                ));
+            }
+        }
+
+        let lt = if spawner.is_init() {
+            None
+        } else {
+            Some(quote!('a))
+        };
+
+        let spawner = spawner.ident(app);
+        debug_assert!(!methods.is_empty());
+        items.push(quote!(
+            #cfg_sender
+            impl<#lt> #spawner::Spawn<#lt> {
+                #(#methods)*
+            }
+        ));
+    }
+
+    items
+}

macros/src/codegen/spawn_body.rs

@@ -0,0 +1,81 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+use syn::Ident;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+pub fn codegen(
+    spawner: Context,
+    name: &Ident,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> TokenStream2 {
+    let sender = spawner.core(app);
+    let spawnee = &app.software_tasks[name];
+    let priority = spawnee.args.priority;
+    let receiver = spawnee.args.core;
+
+    let write_instant = if app.uses_schedule(receiver) {
+        let instants = util::instants_ident(name, sender);
+
+        Some(quote!(
+            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
+        ))
+    } else {
+        None
+    };
+
+    let t = util::spawn_t_ident(receiver, priority, sender);
+    let fq = util::fq_ident(name, sender);
+    let rq = util::rq_ident(receiver, priority, sender);
+    let (dequeue, enqueue) = if spawner.is_init() {
+        (
+            quote!(#fq.dequeue()),
+            quote!(#rq.enqueue_unchecked((#t::#name, index));),
+        )
+    } else {
+        (
+            quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))),
+            quote!((#rq { priority }.lock(|rq| {
+                rq.split().0.enqueue_unchecked((#t::#name, index))
+            }));),
+        )
+    };
+
+    let device = extra.device;
+    let interrupt = &analysis.interrupts[&receiver][&priority];
+    let pend = if sender != receiver {
+        quote!(
+            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+        )
+    } else {
+        quote!(
+            rtfm::pend(#device::Interrupt::#interrupt);
+        )
+    };
+
+    let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs);
+    let inputs = util::inputs_ident(name, sender);
+    quote!(
+        unsafe {
+            use rtfm::Mutex as _;
+
+            let input = #tupled;
+            if let Some(index) = #dequeue {
+                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
+
+                #write_instant
+
+                #enqueue
+
+                #pend
+
+                Ok(())
+            } else {
+                Err(input)
+            }
+        }
+    )
+}

macros/src/codegen/timer_queue.rs

@@ -0,0 +1,147 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates timer queues and timer queue handlers
+pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    for (&sender, timer_queue) in &analysis.timer_queues {
+        let cfg_sender = util::cfg_core(sender, app.args.cores);
+        let t = util::schedule_t_ident(sender);
+
+        // Enumeration of `schedule`-able tasks
+        {
+            let variants = timer_queue
+                .tasks
+                .iter()
+                .map(|name| {
+                    let cfgs = &app.software_tasks[name].cfgs;
+
+                    quote!(
+                        #(#cfgs)*
+                        #name
+                    )
+                })
+                .collect::<Vec<_>>();
+
+            let doc = format!("Tasks that can be scheduled from core #{}", sender);
+            items.push(quote!(
+                #cfg_sender
+                #[doc = #doc]
+                #[allow(non_camel_case_types)]
+                #[derive(Clone, Copy)]
+                enum #t {
+                    #(#variants,)*
+                }
+            ));
+        }
+
+        let tq = util::tq_ident(sender);
+
+        // Static variable and resource proxy
+        {
+            let doc = format!("Core #{} timer queue", sender);
+            let m = extra.monotonic();
+            let n = util::capacity_typenum(timer_queue.capacity, false);
+            let tq_ty = quote!(rtfm::export::TimerQueue<#m, #t, #n>);
+
+            items.push(quote!(
+                #cfg_sender
+                #[doc = #doc]
+                static mut #tq: #tq_ty = rtfm::export::TimerQueue(
+                    rtfm::export::BinaryHeap(
+                        rtfm::export::iBinaryHeap::new()
+                    )
+                );
+
+                #cfg_sender
+                struct #tq<'a> {
+                    priority: &'a rtfm::export::Priority,
+                }
+            ));
+
+            items.push(util::impl_mutex(
+                extra,
+                &[],
+                cfg_sender.as_ref(),
+                false,
+                &tq,
+                tq_ty,
+                timer_queue.ceiling,
+                quote!(&mut #tq),
+            ));
+        }
+
+        // Timer queue handler
+        {
+            let device = extra.device;
+            let arms = timer_queue
+                .tasks
+                .iter()
+                .map(|name| {
+                    let task = &app.software_tasks[name];
+
+                    let cfgs = &task.cfgs;
+                    let priority = task.args.priority;
+                    let receiver = task.args.core;
+                    let rq = util::rq_ident(receiver, priority, sender);
+                    let rqt = util::spawn_t_ident(receiver, priority, sender);
+                    let interrupt = &analysis.interrupts[&receiver][&priority];
+
+                    let pend = if sender != receiver {
+                        quote!(
+                            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+                        )
+                    } else {
+                        quote!(
+                            rtfm::pend(#device::Interrupt::#interrupt);
+                        )
+                    };
+
+                    quote!(
+                        #(#cfgs)*
+                        #t::#name => {
+                            (#rq { priority: &rtfm::export::Priority::new(PRIORITY) }).lock(|rq| {
+                                rq.split().0.enqueue_unchecked((#rqt::#name, index))
+                            });
+
+                            #pend
+                        }
+                    )
+                })
+                .collect::<Vec<_>>();
+
+            let priority = timer_queue.priority;
+            items.push(quote!(
+                #cfg_sender
+                #[no_mangle]
+                unsafe fn SysTick() {
+                    use rtfm::Mutex as _;
+
+                    /// The priority of this handler
+                    const PRIORITY: u8 = #priority;
+
+                    rtfm::export::run(PRIORITY, || {
+                        while let Some((task, index)) = (#tq {
+                            // NOTE dynamic priority is always the static priority at this point
+                            priority: &rtfm::export::Priority::new(PRIORITY),
+                        })
+                        // NOTE `inline(always)` produces faster and smaller code
+                            .lock(#[inline(always)]
+                                  |tq| tq.dequeue())
+                        {
+                            match task {
+                                #(#arms)*
+                            }
+                        }
+                    });
+                }
+            ));
+        }
+    }
+
+    items
+}

macros/src/codegen/util.rs

@@ -0,0 +1,253 @@
+use proc_macro2::{Span, TokenStream as TokenStream2};
+use quote::quote;
+use rtfm_syntax::{ast::App, Context, Core};
+use syn::{ArgCaptured, Attribute, Ident, IntSuffix, LitInt};
+
+use crate::check::Extra;
+
+/// Turns `capacity` into an unsuffixed integer literal
+pub fn capacity_literal(capacity: u8) -> LitInt {
+    LitInt::new(u64::from(capacity), IntSuffix::None, Span::call_site())
+}
+
+/// Turns `capacity` into a type-level (`typenum`) integer
+pub fn capacity_typenum(capacity: u8, round_up_to_power_of_two: bool) -> TokenStream2 {
+    let capacity = if round_up_to_power_of_two {
+        capacity.checked_next_power_of_two().expect("UNREACHABLE")
+    } else {
+        capacity
+    };
+
+    let ident = Ident::new(&format!("U{}", capacity), Span::call_site());
+
+    quote!(rtfm::export::consts::#ident)
+}
+
+/// Generates a `#[cfg(core = "0")]` attribute if we are in multi-core mode
+pub fn cfg_core(core: Core, cores: u8) -> Option<TokenStream2> {
+    if cores == 1 {
+        None
+    } else {
+        let core = core.to_string();
+        Some(quote!(#[cfg(core = #core)]))
+    }
+}
+
+/// Identifier for the free queue
+///
+/// There may be more than one free queue per task because we need one for each sender core so we
+/// include the sender (e.g. `S0`) in the name
+pub fn fq_ident(task: &Ident, sender: Core) -> Ident {
+    Ident::new(
+        &format!("{}_S{}_FQ", task.to_string(), sender),
+        Span::call_site(),
+    )
+}
+
+/// Generates a `Mutex` implementation
+pub fn impl_mutex(
+    extra: &Extra,
+    cfgs: &[Attribute],
+    cfg_core: Option<&TokenStream2>,
+    resources_prefix: bool,
+    name: &Ident,
+    ty: TokenStream2,
+    ceiling: u8,
+    ptr: TokenStream2,
+) -> TokenStream2 {
+    let (path, priority) = if resources_prefix {
+        (quote!(resources::#name), quote!(self.priority()))
+    } else {
+        (quote!(#name), quote!(self.priority))
+    };
+
+    let device = extra.device;
+    quote!(
+        #(#cfgs)*
+        #cfg_core
+        impl<'a> rtfm::Mutex for #path<'a> {
+            type T = #ty;
+
+            #[inline(always)]
+            fn lock<R>(&mut self, f: impl FnOnce(&mut #ty) -> R) -> R {
+                /// Priority ceiling
+                const CEILING: u8 = #ceiling;
+
+                unsafe {
+                    rtfm::export::lock(
+                        #ptr,
+                        #priority,
+                        CEILING,
+                        #device::NVIC_PRIO_BITS,
+                        f,
+                    )
+                }
+            }
+        }
+    )
+}
+
+/// Generates an identifier for a cross-initialization barrier
+pub fn init_barrier(initializer: Core) -> Ident {
+    Ident::new(&format!("IB{}", initializer), Span::call_site())
+}
+
+/// Generates an identifier for the `INPUTS` buffer (`spawn` & `schedule` API)
+pub fn inputs_ident(task: &Ident, sender: Core) -> Ident {
+    Ident::new(&format!("{}_S{}_INPUTS", task, sender), Span::call_site())
+}
+
+/// Generates an identifier for the `INSTANTS` buffer (`schedule` API)
+pub fn instants_ident(task: &Ident, sender: Core) -> Ident {
+    Ident::new(&format!("{}_S{}_INSTANTS", task, sender), Span::call_site())
+}
+
+/// Generates a pre-reexport identifier for the "late resources" struct
+pub fn late_resources_ident(init: &Ident) -> Ident {
+    Ident::new(
+        &format!("{}LateResources", init.to_string()),
+        Span::call_site(),
+    )
+}
+
+/// Generates a pre-reexport identifier for the "locals" struct
+pub fn locals_ident(ctxt: Context, app: &App) -> Ident {
+    let mut s = match ctxt {
+        Context::Init(core) => app.inits[&core].name.to_string(),
+        Context::Idle(core) => app.idles[&core].name.to_string(),
+        Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
+    };
+
+    s.push_str("Locals");
+
+    Ident::new(&s, Span::call_site())
+}
+
+/// Generates an identifier for a rendezvous barrier
+pub fn rendezvous_ident(core: Core) -> Ident {
+    Ident::new(&format!("RV{}", core), Span::call_site())
+}
+
+// Regroups the inputs of a task
+//
+// `inputs` could be &[`input: Foo`] OR &[`mut x: i32`, `ref y: i64`]
+pub fn regroup_inputs(
+    inputs: &[ArgCaptured],
+) -> (
+    // args e.g. &[`_0`],  &[`_0: i32`, `_1: i64`]
+    Vec<TokenStream2>,
+    // tupled e.g. `_0`, `(_0, _1)`
+    TokenStream2,
+    // untupled e.g. &[`_0`], &[`_0`, `_1`]
+    Vec<TokenStream2>,
+    // ty e.g. `Foo`, `(i32, i64)`
+    TokenStream2,
+) {
+    if inputs.len() == 1 {
+        let ty = &inputs[0].ty;
+
+        (
+            vec![quote!(_0: #ty)],
+            quote!(_0),
+            vec![quote!(_0)],
+            quote!(#ty),
+        )
+    } else {
+        let mut args = vec![];
+        let mut pats = vec![];
+        let mut tys = vec![];
+
+        for (i, input) in inputs.iter().enumerate() {
+            let i = Ident::new(&format!("_{}", i), Span::call_site());
+            let ty = &input.ty;
+
+            args.push(quote!(#i: #ty));
+
+            pats.push(quote!(#i));
+
+            tys.push(quote!(#ty));
+        }
+
+        let tupled = {
+            let pats = pats.clone();
+            quote!((#(#pats,)*))
+        };
+        let ty = quote!((#(#tys,)*));
+        (args, tupled, pats, ty)
+    }
+}
+
+/// Generates a pre-reexport identifier for the "resources" struct
+pub fn resources_ident(ctxt: Context, app: &App) -> Ident {
+    let mut s = match ctxt {
+        Context::Init(core) => app.inits[&core].name.to_string(),
+        Context::Idle(core) => app.idles[&core].name.to_string(),
+        Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
+    };
+
+    s.push_str("Resources");
+
+    Ident::new(&s, Span::call_site())
+}
+
+/// Generates an identifier for a ready queue
+///
+/// Each core may have several task dispatchers, one for each priority level. Each task dispatcher
+/// in turn may use more than one ready queue because the queues are SPSC queues so one is needed
+/// per sender core.
+pub fn rq_ident(receiver: Core, priority: u8, sender: Core) -> Ident {
+    Ident::new(
+        &format!("R{}_P{}_S{}_RQ", receiver, priority, sender),
+        Span::call_site(),
+    )
+}
+
+/// Generates an identifier for a "schedule" function
+///
+/// The methods of the `Schedule` structs invoke these functions. As one task may be `schedule`-ed
+/// by different cores we need one "schedule" function per possible task-sender pair
+pub fn schedule_ident(name: &Ident, sender: Core) -> Ident {
+    Ident::new(
+        &format!("schedule_{}_S{}", name.to_string(), sender),
+        Span::call_site(),
+    )
+}
+
+/// Generates an identifier for the `enum` of `schedule`-able tasks
+pub fn schedule_t_ident(core: Core) -> Ident {
+    Ident::new(&format!("T{}", core), Span::call_site())
+}
+
+/// Generates an identifier for a cross-spawn barrier
+pub fn spawn_barrier(receiver: Core) -> Ident {
+    Ident::new(&format!("SB{}", receiver), Span::call_site())
+}
+
+/// Generates an identifier for a "spawn" function
+///
+/// The methods of the `Spawn` structs invoke these functions. As one task may be `spawn`-ed by
+/// different cores we need one "spawn" function per possible task-sender pair
+pub fn spawn_ident(name: &Ident, sender: Core) -> Ident {
+    Ident::new(
+        &format!("spawn_{}_S{}", name.to_string(), sender),
+        Span::call_site(),
+    )
+}
+
+/// Generates an identifier for the `enum` of `spawn`-able tasks
+///
+/// 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(receiver: Core, priority: u8, sender: Core) -> Ident {
+    Ident::new(
+        &format!("R{}_P{}_S{}_T", receiver, priority, sender),
+        Span::call_site(),
+    )
+}
+
+/// Generates an identifier for a timer queue
+///
+/// At most there's one timer queue per core
+pub fn tq_ident(core: Core) -> Ident {
+    Ident::new(&format!("TQ{}", core), Span::call_site())
+}

macros/src/lib.rs

@@ -6,307 +6,41 @@ extern crate proc_macro;
 use proc_macro::TokenStream;
 use std::{fs, path::Path};
 
-use syn::parse_macro_input;
+use rtfm_syntax::Settings;
 
 mod analyze;
 mod check;
 mod codegen;
-mod syntax;
+#[cfg(test)]
+mod tests;
 
-/// Attribute used to declare a RTFM application
-///
-/// This attribute must be applied to a `const` item of type `()`. The `const` item is effectively
-/// used as a `mod` item: its value must be a block that contains items commonly found in modules,
-/// like functions and `static` variables.
-///
-/// The `app` attribute has one mandatory argument:
-///
-/// - `device = <path>`. The path must point to a device crate generated using [`svd2rust`]
-/// **v0.14.x**.
-///
-/// [`svd2rust`]: https://crates.io/crates/svd2rust
-///
-/// The items allowed in the block value of the `const` item are specified below:
-///
-/// # 1. `static [mut]` variables
-///
-/// These variables are used as *resources*. Resources can be owned by tasks or shared between them.
-/// Tasks can get `&mut` (exclusives) references to `static mut` resources, but only `&` (shared)
-/// references to `static` resources. Lower priority tasks will need a [`lock`] to get a `&mut`
-/// reference to a `static mut` resource shared with higher priority tasks.
-///
-/// [`lock`]: ../rtfm/trait.Mutex.html#method.lock
-///
-/// `static mut` resources that are shared by tasks that run at *different* priorities need to
-/// implement the [`Send`] trait. Similarly, `static` resources that are shared by tasks that run at
-/// *different* priorities need to implement the [`Sync`] trait.
-///
-/// [`Send`]: https://doc.rust-lang.org/core/marker/trait.Send.html
-/// [`Sync`]: https://doc.rust-lang.org/core/marker/trait.Sync.html
-///
-/// Resources can be initialized at runtime by assigning them `()` (the unit value) as their initial
-/// value in their declaration. These "late" resources need to be initialized an the end of the
-/// `init` function.
-///
-/// The `app` attribute will inject a `resources` module in the root of the crate. This module
-/// contains proxy `struct`s that implement the [`Mutex`] trait. The `struct` are named after the
-/// `static mut` resources. For example, `static mut FOO: u32 = 0` will map to a `resources::FOO`
-/// `struct` that implements the `Mutex<Data = u32>` trait.
-///
-/// [`Mutex`]: ../rtfm/trait.Mutex.html
-///
-/// # 2. `fn`
-///
-/// Functions must contain *one* of the following attributes: `init`, `idle`, `interrupt`,
-/// `exception` or `task`. The attribute defines the role of the function in the application.
-///
-/// ## a. `#[init]`
-///
-/// This attribute indicates that the function is to be used as the *initialization function*. There
-/// must be exactly one instance of the `init` attribute inside the `app` pseudo-module. The
-/// signature of the `init` function must be `[unsafe] fn ()`.
-///
-/// The `init` function runs after memory (RAM) is initialized and runs with interrupts disabled.
-/// Interrupts are re-enabled after `init` returns.
-///
-/// The `init` attribute accepts the following optional arguments:
-///
-/// - `resources = [RESOURCE_A, RESOURCE_B, ..]`. This is the list of resources this function has
-/// access to.
-///
-/// - `schedule = [task_a, task_b, ..]`. This is the list of *software* tasks that this function can
-/// schedule to run in the future. *IMPORTANT*: This argument is accepted only if the `timer-queue`
-/// feature has been enabled.
-///
-/// - `spawn = [task_a, task_b, ..]`. This is the list of *software* tasks that this function can
-/// immediately spawn.
-///
-/// The `app` attribute will injected a *context* into this function that comprises the following
-/// variables:
-///
-/// - `core: rtfm::Peripherals`. Exclusive access to core peripherals. See [`rtfm::Peripherals`] for
-/// more details.
-///
-/// [`rtfm::Peripherals`]: ../rtfm/struct.Peripherals.html
-///
-/// - `device: <device-path>::Peripherals`. Exclusive access to device-specific peripherals.
-/// `<device-path>` is the path to the device crate declared in the top `app` attribute.
-///
-/// - `start: rtfm::Instant`. The `start` time of the system: `Instant(0 /* cycles */)`. **NOTE**:
-/// only present if the `timer-queue` feature is enabled.
-///
-/// - `resources: _`. An opaque `struct` that contains all the resources assigned to this function.
-/// The resource maybe appear by value (`impl Singleton`), by references (`&[mut]`) or by proxy
-/// (`impl Mutex`).
-///
-/// - `schedule: init::Schedule`. A `struct` that can be used to schedule *software* tasks.
-/// **NOTE**: only present if the `timer-queue` feature is enabled.
-///
-/// - `spawn: init::Spawn`. A `struct` that can be used to spawn *software* tasks.
-///
-/// Other properties / constraints:
-///
-/// - The `init` function can **not** be called from software.
-///
-/// - The `static mut` variables declared at the beginning of this function will be transformed into
-/// `&'static mut` references that are safe to access. For example, `static mut FOO: u32 = 0` will
-/// become `FOO: &'static mut u32`.
-///
-/// - Assignments (e.g. `FOO = 0`) at the end of this function can be used to initialize *late*
-/// resources.
-///
-/// ## b. `#[idle]`
-///
-/// This attribute indicates that the function is to be used as the *idle task*. There can be at
-/// most once instance of the `idle` attribute inside the `app` pseudo-module. The signature of the
-/// `idle` function must be `fn() -> !`.
-///
-/// The `idle` task is a special task that always runs in the background. The `idle` task runs at
-/// the lowest priority of `0`. If the `idle` task is not defined then the runtime sets the
-/// [SLEEPONEXIT] bit after executing `init`.
-///
-/// [SLEEPONEXIT]: https://developer.arm.com/products/architecture/cpu-architecture/m-profile/docs/100737/0100/power-management/sleep-mode/sleep-on-exit-bit
-///
-/// The `idle` attribute accepts the following optional arguments:
-///
-/// - `resources = (..)`. Same meaning / function as [`#[init].resources`](#a-init).
-///
-/// - `schedule = (..)`. Same meaning / function as [`#[init].schedule`](#a-init).
-///
-/// - `spawn = (..)`. Same meaning / function as [`#[init].spawn`](#a-init).
-///
-/// The `app` attribute will injected a *context* into this function that comprises the following
-/// variables:
-///
-/// - `resources: _`. Same meaning / function as [`init.resources`](#a-init).
-///
-/// - `schedule: idle::Schedule`. Same meaning / function as [`init.schedule`](#a-init).
-///
-/// - `spawn: idle::Spawn`. Same meaning / function as [`init.spawn`](#a-init).
-///
-/// Other properties / constraints:
-///
-/// - The `idle` function can **not** be called from software.
-///
-/// - The `static mut` variables declared at the beginning of this function will be transformed into
-/// `&'static mut` references that are safe to access. For example, `static mut FOO: u32 = 0` will
-/// become `FOO: &'static mut u32`.
-///
-/// ## c. `#[exception]`
-///
-/// This attribute indicates that the function is to be used as an *exception handler*, a type of
-/// hardware task. The signature of `exception` handlers must be `[unsafe] fn()`.
-///
-/// The name of the function must match one of the Cortex-M exceptions that has [configurable
-/// priority][system-handler].
-///
-/// [system-handler]: ../cortex_m/peripheral/scb/enum.SystemHandler.html
-///
-/// The `exception` attribute accepts the following optional arguments.
-///
-/// - `priority = <integer>`. This is the static priority of the exception handler. The value must
-/// be in the range `1..=(1 << <device-path>::NVIC_PRIO_BITS)` where `<device-path>` is the path to
-/// the device crate declared in the top `app` attribute. If this argument is omitted the priority
-/// is assumed to be 1.
-///
-/// - `resources = (..)`. Same meaning / function as [`#[init].resources`](#a-init).
-///
-/// - `schedule = (..)`. Same meaning / function as [`#[init].schedule`](#a-init).
-///
-/// - `spawn = (..)`. Same meaning / function as [`#[init].spawn`](#a-init).
-///
-/// The `app` attribute will injected a *context* into this function that comprises the following
-/// variables:
-///
-/// - `start: rtfm::Instant`. The time at which this handler started executing. **NOTE**: only
-/// present if the `timer-queue` feature is enabled.
-///
-/// - `resources: _`. Same meaning / function as [`init.resources`](#a-init).
-///
-/// - `schedule: <exception-name>::Schedule`. Same meaning / function as [`init.schedule`](#a-init).
-///
-/// - `spawn: <exception-name>::Spawn`.  Same meaning / function as [`init.spawn`](#a-init).
-///
-/// Other properties / constraints:
-///
-/// - `exception` handlers can **not** be called from software.
-///
-/// - The `static mut` variables declared at the beginning of this function will be transformed into
-/// `&mut` references that are safe to access. For example, `static mut FOO: u32 = 0` will
-/// become `FOO: &mut u32`.
-///
-/// ## d. `#[interrupt]`
-///
-/// This attribute indicates that the function is to be used as an *interrupt handler*, a type of
-/// hardware task. The signature of `interrupt` handlers must be `[unsafe] fn()`.
-///
-/// The name of the function must match one of the device specific interrupts. See your device crate
-/// documentation (`Interrupt` enum) for more details.
-///
-/// The `interrupt` attribute accepts the following optional arguments.
-///
-/// - `priority = (..)`. Same meaning / function as [`#[exception].priority`](#b-exception).
-///
-/// - `resources = (..)`. Same meaning / function as [`#[init].resources`](#a-init).
-///
-/// - `schedule = (..)`. Same meaning / function as [`#[init].schedule`](#a-init).
-///
-/// - `spawn = (..)`. Same meaning / function as [`#[init].spawn`](#a-init).
-///
-/// The `app` attribute will injected a *context* into this function that comprises the following
-/// variables:
-///
-/// - `start: rtfm::Instant`. Same meaning / function as [`exception.start`](#b-exception).
-///
-/// - `resources: _`. Same meaning / function as [`init.resources`](#a-init).
-///
-/// - `schedule: <interrupt-name>::Schedule`. Same meaning / function as [`init.schedule`](#a-init).
-///
-/// - `spawn: <interrupt-name>::Spawn`.  Same meaning / function as [`init.spawn`](#a-init).
-///
-/// Other properties / constraints:
-///
-/// - `interrupt` handlers can **not** be called from software, but they can be [`pend`]-ed by the
-/// software from any context.
-///
-/// [`pend`]: ../rtfm/fn.pend.html
-///
-/// - The `static mut` variables declared at the beginning of this function will be transformed into
-/// `&mut` references that are safe to access. For example, `static mut FOO: u32 = 0` will
-/// become `FOO: &mut u32`.
-///
-/// ## e. `#[task]`
-///
-/// This attribute indicates that the function is to be used as a *software task*. The signature of
-/// software `task`s must be `[unsafe] fn(<inputs>)`.
-///
-/// The `task` attribute accepts the following optional arguments.
-///
-/// - `capacity = <integer>`. The maximum number of instances of this task that can be queued onto
-/// the task scheduler for execution. The value must be in the range `1..=255`. If the `capacity`
-/// argument is omitted then the capacity will be inferred.
-///
-/// - `priority = <integer>`. Same meaning / function as [`#[exception].priority`](#b-exception).
-///
-/// - `resources = (..)`. Same meaning / function as [`#[init].resources`](#a-init).
-///
-/// - `schedule = (..)`. Same meaning / function as [`#[init].schedule`](#a-init).
-///
-/// - `spawn = (..)`. Same meaning / function as [`#[init].spawn`](#a-init).
-///
-/// The `app` attribute will injected a *context* into this function that comprises the following
-/// variables:
-///
-/// - `scheduled: rtfm::Instant`. The time at which this task was scheduled to run. **NOTE**: Only
-/// present if `timer-queue` is enabled.
-///
-/// - `resources: _`. Same meaning / function as [`init.resources`](#a-init).
-///
-/// - `schedule: <interrupt-name>::Schedule`. Same meaning / function as [`init.schedule`](#a-init).
-///
-/// - `spawn: <interrupt-name>::Spawn`.  Same meaning / function as [`init.spawn`](#a-init).
-///
-/// Other properties / constraints:
-///
-/// - Software `task`s can **not** be called from software, but they can be `spawn`-ed and
-/// `schedule`-d by the software from any context.
-///
-/// - The `static mut` variables declared at the beginning of this function will be transformed into
-/// `&mut` references that are safe to access. For example, `static mut FOO: u32 = 0` will
-/// become `FOO: &mut u32`.
-///
-/// # 3. `extern` block
-///
-/// This `extern` block contains a list of interrupts which are *not* used by the application as
-/// hardware tasks. These interrupts will be used to dispatch software tasks. Each interrupt will be
-/// used to dispatch *multiple* software tasks *at the same priority level*.
-///
-/// This `extern` block must only contain functions with signature `fn ()`. The names of these
-/// functions must match the names of the target device interrupts.
-///
-/// Importantly, attributes can be applied to the functions inside this block. These attributes will
-/// be forwarded to the interrupt handlers generated by the `app` attribute.
 #[proc_macro_attribute]
 pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
-    // Parse
+    let (app, analysis) = match rtfm_syntax::parse(
-    let args = parse_macro_input!(args as syntax::AppArgs);
+        args,
-    let input = parse_macro_input!(input as syntax::Input);
+        input,
-
+        Settings {
-    let app = match syntax::App::parse(input.items, args) {
+            parse_cores: cfg!(feature = "heterogeneous"),
+            parse_exception: true,
+            parse_extern_interrupt: true,
+            parse_interrupt: true,
+            parse_schedule: true,
+            optimize_priorities: true,
+            ..Settings::default()
+        },
+    ) {
         Err(e) => return e.to_compile_error().into(),
-        Ok(app) => app,
+        Ok(x) => x,
     };
 
-    // Check the specification
+    let extra = match check::app(&app, &analysis) {
-    if let Err(e) = check::app(&app) {
+        Err(e) => return e.to_compile_error().into(),
-        return e.to_compile_error().into();
+        Ok(x) => x,
-    }
+    };
 
-    // Ceiling analysis
+    let analysis = analyze::app(analysis, &app);
-    let analysis = analyze::app(&app);
 
-    // Code generation
+    let ts = codegen::app(&app, &analysis, &extra);
-    let ts = codegen::app(&input.ident, &app, &analysis);
 
     // Try to write the expanded code to disk
     if Path::new("target").exists() {

macros/src/tests.rs

@@ -0,0 +1,5 @@
+// NOTE these tests are specific to the Cortex-M port; `rtfm-syntax` has a more extensive test suite
+// that tests functionality common to all the RTFM ports
+
+mod multi;
+mod single;

macros/src/tests/multi.rs

@@ -0,0 +1,59 @@
+use quote::quote;
+use rtfm_syntax::Settings;
+
+#[test]
+fn analyze() {
+    let (app, analysis) = rtfm_syntax::parse2(
+        quote!(device = pac, cores = 2),
+        quote!(
+            const APP: () = {
+                #[task(core = 0, priority = 1)]
+                fn a(_: a::Context) {}
+
+                #[task(core = 0, priority = 2)]
+                fn b(_: b::Context) {}
+
+                #[task(core = 1, priority = 1)]
+                fn c(_: c::Context) {}
+
+                #[task(core = 1, priority = 2)]
+                fn d(_: d::Context) {}
+
+                // first interrupt is assigned to the highest priority dispatcher
+                extern "C" {
+                    #[core = 0]
+                    fn B();
+
+                    #[core = 0]
+                    fn A();
+
+                    #[core = 1]
+                    fn A();
+
+                    #[core = 1]
+                    fn C();
+                }
+            };
+        ),
+        Settings {
+            parse_cores: true,
+            parse_extern_interrupt: true,
+            ..Settings::default()
+        },
+    )
+        .unwrap();
+
+    let analysis = crate::analyze::app(analysis, &app);
+
+    // first core
+    let interrupts0 = &analysis.interrupts[&0];
+    assert_eq!(interrupts0.len(), 2);
+    assert_eq!(interrupts0[&2].to_string(), "B");
+    assert_eq!(interrupts0[&1].to_string(), "A");
+
+    // second core
+    let interrupts1 = &analysis.interrupts[&1];
+    assert_eq!(interrupts1.len(), 2);
+    assert_eq!(interrupts1[&2].to_string(), "A");
+    assert_eq!(interrupts1[&1].to_string(), "C");
+}

macros/src/tests/single.rs

@@ -0,0 +1,35 @@
+use quote::quote;
+use rtfm_syntax::Settings;
+
+#[test]
+fn analyze() {
+    let (app, analysis) = rtfm_syntax::parse2(
+        quote!(device = pac),
+        quote!(
+            const APP: () = {
+                #[task(priority = 1)]
+                fn a(_: a::Context) {}
+
+                #[task(priority = 2)]
+                fn b(_: b::Context) {}
+
+                // first interrupt is assigned to the highest priority dispatcher
+                extern "C" {
+                    fn B();
+                    fn A();
+                }
+            };
+        ),
+        Settings {
+            parse_extern_interrupt: true,
+            ..Settings::default()
+        },
+    )
+    .unwrap();
+
+    let analysis = crate::analyze::app(analysis, &app);
+    let interrupts = &analysis.interrupts[&0];
+    assert_eq!(interrupts.len(), 2);
+    assert_eq!(interrupts[&2].to_string(), "B");
+    assert_eq!(interrupts[&1].to_string(), "A");
+}

mc/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+authors = ["Jorge Aparicio <jorge@japaric.io>"]
+edition = "2018"
+name = "mc"
+# this crate is only used for testing
+publish = false
+version = "0.0.0-alpha.0"
+
+[dependencies]
+cortex-m = "0.6.0"
+
+[dependencies.cortex-m-rtfm]
+path = ".."
+features = ["heterogeneous"]
+
+[dev-dependencies]
+panic-halt = "0.2.0"
+microamp = "0.1.0-alpha.1"

mc/README.md

@@ -0,0 +1 @@
+This directory contains multi-core compile pass tests.

mc/examples/smallest.rs

@@ -0,0 +1,7 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = mc)]
+const APP: () = {};

mc/examples/x-init-2.rs

@@ -0,0 +1,39 @@
+//! [compile-pass] Cross initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = mc)]
+const APP: () = {
+    extern "C" {
+        // owned by core #1 but initialized by core #0
+        static mut X: u32;
+
+        // owned by core #0 but initialized by core #1
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[idle(core = 0, resources = [Y])]
+    fn b(_: b::Context) -> ! {
+        loop {}
+    }
+
+    #[init(core = 1)]
+    fn c(_: c::Context) -> c::LateResources {
+        c::LateResources { Y: 0 }
+    }
+
+    #[idle(core = 1, resources = [X])]
+    fn d(_: d::Context) -> ! {
+        loop {}
+    }
+};

mc/examples/x-init.rs

@@ -0,0 +1,26 @@
+//! [compile-pass] Split initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = mc)]
+const APP: () = {
+    extern "C" {
+        static mut X: u32;
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[init(core = 1)]
+    fn b(_: b::Context) -> b::LateResources {
+        b::LateResources { Y: 0 }
+    }
+};

mc/examples/x-schedule.rs

@@ -0,0 +1,36 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = mc, monotonic = mc::MT)]
+const APP: () = {
+    #[init(core = 0, spawn = [ping])]
+    fn init(c: init::Context) {
+        c.spawn.ping().ok();
+    }
+
+    #[task(core = 0, schedule = [ping])]
+    fn pong(c: pong::Context) {
+        c.schedule.ping(c.scheduled + 1_000_000).ok();
+    }
+
+    #[task(core = 1, schedule = [pong])]
+    fn ping(c: ping::Context) {
+        c.schedule.pong(c.scheduled + 1_000_000).ok();
+    }
+
+    extern "C" {
+        #[core = 0]
+        fn I0();
+
+        #[core = 0]
+        fn I1();
+
+        #[core = 1]
+        fn I0();
+
+        #[core = 1]
+        fn I1();
+    }
+};

mc/examples/x-spawn.rs

@@ -0,0 +1,20 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = mc)]
+const APP: () = {
+    #[init(core = 0, spawn = [foo])]
+    fn init(c: init::Context) {
+        c.spawn.foo().ok();
+    }
+
+    #[task(core = 1)]
+    fn foo(_: foo::Context) {}
+
+    extern "C" {
+        #[core = 1]
+        fn I0();
+    }
+};

mc/src/lib.rs

@@ -0,0 +1,99 @@
+//! Fake multi-core PAC
+
+#![no_std]
+
+use core::{
+    cmp::Ordering,
+    ops::{Add, Sub},
+};
+
+use cortex_m::interrupt::Nr;
+use rtfm::Monotonic;
+
+// Fake priority bits
+pub const NVIC_PRIO_BITS: u8 = 3;
+
+pub struct CrossPend;
+
+pub fn xpend(_core: u8, _interrupt: impl Nr) {}
+
+/// Fake monotonic timer
+pub struct MT;
+
+unsafe impl Monotonic for MT {
+    type Instant = Instant;
+
+    fn ratio() -> u32 {
+        1
+    }
+
+    unsafe fn reset() {
+        (0xE0001004 as *mut u32).write_volatile(0)
+    }
+
+    fn now() -> Instant {
+        unsafe { Instant((0xE0001004 as *const u32).read_volatile() as i32) }
+    }
+
+    fn zero() -> Instant {
+        Instant(0)
+    }
+}
+
+#[derive(Clone, Copy, Eq, PartialEq)]
+pub struct Instant(i32);
+
+impl Add<u32> for Instant {
+    type Output = Instant;
+
+    fn add(self, rhs: u32) -> Self {
+        Instant(self.0.wrapping_add(rhs as i32))
+    }
+}
+
+impl Sub for Instant {
+    type Output = u32;
+
+    fn sub(self, rhs: Self) -> u32 {
+        self.0.checked_sub(rhs.0).unwrap() as u32
+    }
+}
+
+impl Ord for Instant {
+    fn cmp(&self, rhs: &Self) -> Ordering {
+        self.0.wrapping_sub(rhs.0).cmp(&0)
+    }
+}
+
+impl PartialOrd for Instant {
+    fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
+        Some(self.cmp(rhs))
+    }
+}
+
+// Fake interrupts
+pub enum Interrupt {
+    I0,
+    I1,
+    I2,
+    I3,
+    I4,
+    I5,
+    I6,
+    I7,
+}
+
+unsafe impl Nr for Interrupt {
+    fn nr(&self) -> u8 {
+        match self {
+            Interrupt::I0 => 0,
+            Interrupt::I1 => 1,
+            Interrupt::I2 => 2,
+            Interrupt::I3 => 3,
+            Interrupt::I4 => 4,
+            Interrupt::I5 => 5,
+            Interrupt::I6 => 6,
+            Interrupt::I7 => 7,
+        }
+    }
+}

src/cyccnt.rs

@@ -0,0 +1,205 @@
+//! Data Watchpoint Trace (DWT) unit's CYCle CouNTer
+
+use core::{
+    cmp::Ordering,
+    convert::{Infallible, TryInto},
+    fmt,
+    marker::PhantomData,
+    ops,
+};
+
+use cortex_m::peripheral::DWT;
+
+/// A measurement of the CYCCNT. Opaque and useful only with `Duration`
+///
+/// This data type is only available on ARMv7-M
+#[derive(Clone, Copy, Eq, PartialEq)]
+pub struct Instant {
+    inner: i32,
+    _not_send_or_sync: PhantomData<*mut ()>,
+}
+
+unsafe impl Sync for Instant {}
+
+#[cfg(not(feature = "heterogeneous"))]
+unsafe impl Send for Instant {}
+
+impl Instant {
+    /// Returns an instant corresponding to "now"
+    pub fn now() -> Self {
+        Instant {
+            inner: DWT::get_cycle_count() as i32,
+            _not_send_or_sync: PhantomData,
+        }
+    }
+
+    /// Returns the amount of time elapsed since this instant was created.
+    pub fn elapsed(&self) -> Duration {
+        Instant::now() - *self
+    }
+
+    /// Returns the amount of time elapsed from another instant to this one.
+    pub fn duration_since(&self, earlier: Instant) -> Duration {
+        let diff = self.inner - earlier.inner;
+        assert!(diff >= 0, "second instant is later than self");
+        Duration { inner: diff as u32 }
+    }
+}
+
+impl fmt::Debug for Instant {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        f.debug_tuple("Instant")
+            .field(&(self.inner as u32))
+            .finish()
+    }
+}
+
+impl ops::AddAssign<Duration> for Instant {
+    fn add_assign(&mut self, dur: Duration) {
+        debug_assert!(dur.inner < (1 << 31));
+        self.inner = self.inner.wrapping_add(dur.inner as i32);
+    }
+}
+
+impl ops::Add<Duration> for Instant {
+    type Output = Self;
+
+    fn add(mut self, dur: Duration) -> Self {
+        self += dur;
+        self
+    }
+}
+
+impl ops::SubAssign<Duration> for Instant {
+    fn sub_assign(&mut self, dur: Duration) {
+        // XXX should this be a non-debug assertion?
+        debug_assert!(dur.inner < (1 << 31));
+        self.inner = self.inner.wrapping_sub(dur.inner as i32);
+    }
+}
+
+impl ops::Sub<Duration> for Instant {
+    type Output = Self;
+
+    fn sub(mut self, dur: Duration) -> Self {
+        self -= dur;
+        self
+    }
+}
+
+impl ops::Sub<Instant> for Instant {
+    type Output = Duration;
+
+    fn sub(self, other: Instant) -> Duration {
+        self.duration_since(other)
+    }
+}
+
+impl Ord for Instant {
+    fn cmp(&self, rhs: &Self) -> Ordering {
+        self.inner.wrapping_sub(rhs.inner).cmp(&0)
+    }
+}
+
+impl PartialOrd for Instant {
+    fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
+        Some(self.cmp(rhs))
+    }
+}
+
+/// A `Duration` type to represent a span of time.
+///
+/// This data type is only available on ARMv7-M
+#[derive(Clone, Copy, Default, Eq, Ord, PartialEq, PartialOrd)]
+pub struct Duration {
+    inner: u32,
+}
+
+impl Duration {
+    /// Returns the total number of clock cycles contained by this `Duration`
+    pub fn as_cycles(&self) -> u32 {
+        self.inner
+    }
+}
+
+impl TryInto<u32> for Duration {
+    type Error = Infallible;
+
+    fn try_into(self) -> Result<u32, Infallible> {
+        Ok(self.as_cycles())
+    }
+}
+
+impl ops::AddAssign for Duration {
+    fn add_assign(&mut self, dur: Duration) {
+        self.inner += dur.inner;
+    }
+}
+
+impl ops::Add<Duration> for Duration {
+    type Output = Self;
+
+    fn add(self, other: Self) -> Self {
+        Duration {
+            inner: self.inner + other.inner,
+        }
+    }
+}
+
+impl ops::SubAssign for Duration {
+    fn sub_assign(&mut self, rhs: Duration) {
+        self.inner -= rhs.inner;
+    }
+}
+
+impl ops::Sub<Duration> for Duration {
+    type Output = Self;
+
+    fn sub(self, rhs: Self) -> Self {
+        Duration {
+            inner: self.inner - rhs.inner,
+        }
+    }
+}
+
+/// Adds the `cycles` method to the `u32` type
+///
+/// This trait is only available on ARMv7-M
+pub trait U32Ext {
+    /// Converts the `u32` value into clock cycles
+    fn cycles(self) -> Duration;
+}
+
+impl U32Ext for u32 {
+    fn cycles(self) -> Duration {
+        Duration { inner: self }
+    }
+}
+
+/// Implementation of the `Monotonic` trait based on CYCle CouNTer
+#[cfg(not(feature = "heterogeneous"))]
+pub struct CYCCNT;
+
+#[cfg(not(feature = "heterogeneous"))]
+unsafe impl crate::Monotonic for CYCCNT {
+    type Instant = Instant;
+
+    fn ratio() -> u32 {
+        1
+    }
+
+    unsafe fn reset() {
+        (0xE0001004 as *mut u32).write_volatile(0)
+    }
+
+    fn now() -> Instant {
+        Instant::now()
+    }
+
+    fn zero() -> Instant {
+        Instant {
+            inner: 0,
+            _not_send_or_sync: PhantomData,
+        }
+    }
+}

src/export.rs

@@ -1,21 +1,27 @@
-//! IMPLEMENTATION DETAILS. DO NOT USE ANYTHING IN THIS MODULE
+use core::{
-
+    cell::Cell,
-use core::{cell::Cell, u8};
+    sync::atomic::{AtomicBool, Ordering},
-
-#[cfg(armv7m)]
-use cortex_m::register::basepri;
-pub use cortex_m::{
-    asm::wfi, interrupt, peripheral::scb::SystemHandler, peripheral::syst::SystClkSource,
-    peripheral::Peripherals,
 };
-use heapless::spsc::SingleCore;
-pub use heapless::{consts, i, spsc::Queue};
 
-#[cfg(feature = "timer-queue")]
 pub use crate::tq::{NotReady, TimerQueue};
+#[cfg(armv7m)]
+pub use cortex_m::register::basepri;
+pub use cortex_m::{
+    asm::wfi,
+    interrupt,
+    peripheral::{scb::SystemHandler, syst::SystClkSource, DWT},
+    Peripherals,
+};
+use heapless::spsc::{MultiCore, SingleCore};
+pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
+pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
+#[cfg(feature = "heterogeneous")]
+pub use microamp::shared;
 
-pub type FreeQueue<N> = Queue<u8, N, u8, SingleCore>;
+pub type MCFQ<N> = Queue<u8, N, u8, MultiCore>;
-pub type ReadyQueue<T, N> = Queue<(T, u8), N, u8, SingleCore>;
+pub type MCRQ<T, N> = Queue<(T, u8), N, u8, MultiCore>;
+pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
+pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
 
 #[cfg(armv7m)]
 #[inline(always)]
@@ -43,6 +49,26 @@ where
     f();
 }
 
+pub struct Barrier {
+    inner: AtomicBool,
+}
+
+impl Barrier {
+    pub const fn new() -> Self {
+        Barrier {
+            inner: AtomicBool::new(false),
+        }
+    }
+
+    pub fn release(&self) {
+        self.inner.store(true, Ordering::Release)
+    }
+
+    pub fn wait(&self) {
+        while !self.inner.load(Ordering::Acquire) {}
+    }
+}
+
 // Newtype over `Cell` that forbids mutation through a shared reference
 pub struct Priority {
     inner: Cell<u8>,
@@ -95,7 +121,7 @@ pub unsafe fn lock<T, R>(
 
     if current < ceiling {
         if ceiling == (1 << nvic_prio_bits) {
-            priority.set(u8::MAX);
+            priority.set(u8::max_value());
             let r = interrupt::free(|_| f(&mut *ptr));
             priority.set(current);
             r
@@ -124,7 +150,7 @@ pub unsafe fn lock<T, R>(
     let current = priority.get();
 
     if current < ceiling {
-        priority.set(u8::MAX);
+        priority.set(u8::max_value());
         let r = interrupt::free(|_| f(&mut *ptr));
         priority.set(current);
         r

src/lib.rs

@@ -33,68 +33,45 @@
 //!
 //! # Cargo features
 //!
-//! - `timer-queue`. This opt-in feature enables the `schedule` API which can be used to schedule
+//! - `heterogeneous`. This opt-in feature enables the *experimental* heterogeneous multi-core support.
-//! tasks to run in the future. Also see [`Instant`] and [`Duration`].
-//!
-//! [`Instant`]: struct.Instant.html
-//! [`Duration`]: struct.Duration.html
-//!
-//! - `nightly`. Enabling this opt-in feature makes RTFM internally use the unstable `const_fn`
-//! language feature to reduce static memory usage, runtime overhead and initialization overhead.
-//! This feature requires a nightly compiler and may stop working at any time!
 
 #![deny(missing_docs)]
+#![deny(rust_2018_compatibility)]
+#![deny(rust_2018_idioms)]
 #![deny(warnings)]
 #![no_std]
 
-#[cfg(feature = "timer-queue")]
+use core::ops::Sub;
-use core::cmp::Ordering;
-use core::{fmt, ops};
 
-#[cfg(not(feature = "timer-queue"))]
-use cortex_m::peripheral::SYST;
 use cortex_m::{
     interrupt::Nr,
     peripheral::{CBP, CPUID, DCB, DWT, FPB, FPU, ITM, MPU, NVIC, SCB, TPIU},
 };
+#[cfg(not(feature = "heterogeneous"))]
+use cortex_m_rt as _; // vector table
 pub use cortex_m_rtfm_macros::app;
+pub use rtfm_core::{Exclusive, Mutex};
 
+#[cfg(armv7m)]
+pub mod cyccnt;
 #[doc(hidden)]
 pub mod export;
 #[doc(hidden)]
-#[cfg(feature = "timer-queue")]
 mod tq;
 
-#[cfg(all(feature = "timer-queue", armv6m))]
+/// `cortex_m::Peripherals` minus `SYST`
-compile_error!(
-    "The `timer-queue` feature is currently not supported on ARMv6-M (`thumbv6m-none-eabi`)"
-);
-
-/// Core peripherals
-///
-/// This is `cortex_m::Peripherals` minus the peripherals that the RTFM runtime uses
-///
-/// - The `NVIC` field is never present.
-/// - When the `timer-queue` feature is enabled the following fields are *not* present: `DWT` and
-/// `SYST`.
 #[allow(non_snake_case)]
-pub struct Peripherals<'a> {
+pub struct Peripherals {
     /// Cache and branch predictor maintenance operations (not present on Cortex-M0 variants)
     pub CBP: CBP,
 
     /// CPUID
     pub CPUID: CPUID,
 
-    /// Debug Control Block (by value if the `timer-queue` feature is disabled)
+    /// Debug Control Block
-    #[cfg(feature = "timer-queue")]
-    pub DCB: &'a mut DCB,
-
-    /// Debug Control Block (borrowed if the `timer-queue` feature is enabled)
-    #[cfg(not(feature = "timer-queue"))]
     pub DCB: DCB,
 
-    /// Data Watchpoint and Trace unit (not present if the `timer-queue` feature is enabled)
+    /// Data Watchpoint and Trace unit
-    #[cfg(not(feature = "timer-queue"))]
     pub DWT: DWT,
 
     /// Flash Patch and Breakpoint unit (not present on Cortex-M0 variants)
@@ -109,245 +86,52 @@ pub struct Peripherals<'a> {
     /// Memory Protection Unit
     pub MPU: MPU,
 
-    // Nested Vector Interrupt Controller
+    /// Nested Vector Interrupt Controller
-    // pub NVIC: NVIC,
+    pub NVIC: NVIC,
+
     /// System Control Block
-    pub SCB: &'a mut SCB,
+    pub SCB: SCB,
-
-    /// SysTick: System Timer (not present if the `timer-queue` is enabled)
-    #[cfg(not(feature = "timer-queue"))]
-    pub SYST: SYST,
 
+    // SysTick: System Timer
+    // pub SYST: SYST,
     /// Trace Port Interface Unit (not present on Cortex-M0 variants)
     pub TPIU: TPIU,
 }
 
-/// A measurement of a monotonically nondecreasing clock. Opaque and useful only with `Duration`
+impl From<cortex_m::Peripherals> for Peripherals {
-///
+    fn from(p: cortex_m::Peripherals) -> Self {
-/// This data type is only available when the `timer-queue` feature is enabled
+        Self {
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+            CBP: p.CBP,
-#[cfg(feature = "timer-queue")]
+            CPUID: p.CPUID,
-pub struct Instant(i32);
+            DCB: p.DCB,
-
+            DWT: p.DWT,
-#[cfg(feature = "timer-queue")]
+            FPB: p.FPB,
-impl Instant {
+            FPU: p.FPU,
-    /// IMPLEMENTATION DETAIL. DO NOT USE
+            ITM: p.ITM,
-    #[doc(hidden)]
+            MPU: p.MPU,
-    pub unsafe fn artificial(timestamp: i32) -> Self {
+            NVIC: p.NVIC,
-        Instant(timestamp)
+            SCB: p.SCB,
-    }
+            TPIU: p.TPIU,
-
+        }
-    /// Returns an instant corresponding to "now"
-    pub fn now() -> Self {
-        Instant(DWT::get_cycle_count() as i32)
-    }
-
-    /// Returns the amount of time elapsed since this instant was created.
-    pub fn elapsed(&self) -> Duration {
-        Instant::now() - *self
-    }
-
-    /// Returns the amount of time elapsed from another instant to this one.
-    pub fn duration_since(&self, earlier: Instant) -> Duration {
-        let diff = self.0 - earlier.0;
-        assert!(diff >= 0, "second instant is later than self");
-        Duration(diff as u32)
     }
 }
 
-#[cfg(feature = "timer-queue")]
+/// A monotonic clock / counter
-impl ops::AddAssign<Duration> for Instant {
+pub unsafe trait Monotonic {
-    fn add_assign(&mut self, dur: Duration) {
+    /// A measurement of this clock
-        debug_assert!(dur.0 < (1 << 31));
+    type Instant: Copy + Ord + Sub;
-        self.0 = self.0.wrapping_add(dur.0 as i32);
-    }
-}
 
-#[cfg(feature = "timer-queue")]
+    /// The ratio between the SysTick (system timer) frequency and this clock frequency
-impl ops::Add<Duration> for Instant {
+    fn ratio() -> u32;
-    type Output = Self;
 
-    fn add(mut self, dur: Duration) -> Self {
+    /// Returns the current time
-        self += dur;
+    fn now() -> Self::Instant;
-        self
-    }
-}
 
-#[cfg(feature = "timer-queue")]
+    /// Resets the counter to *zero*
-impl ops::SubAssign<Duration> for Instant {
+    unsafe fn reset();
-    fn sub_assign(&mut self, dur: Duration) {
-        // XXX should this be a non-debug assertion?
-        debug_assert!(dur.0 < (1 << 31));
-        self.0 = self.0.wrapping_sub(dur.0 as i32);
-    }
-}
 
-#[cfg(feature = "timer-queue")]
+    /// A `Self::Instant` that represents a count of *zero*
-impl ops::Sub<Duration> for Instant {
+    fn zero() -> Self::Instant;
-    type Output = Self;
-
-    fn sub(mut self, dur: Duration) -> Self {
-        self -= dur;
-        self
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl ops::Sub<Instant> for Instant {
-    type Output = Duration;
-
-    fn sub(self, other: Instant) -> Duration {
-        self.duration_since(other)
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl Ord for Instant {
-    fn cmp(&self, rhs: &Self) -> Ordering {
-        self.0.wrapping_sub(rhs.0).cmp(&0)
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl PartialOrd for Instant {
-    fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
-        Some(self.cmp(rhs))
-    }
-}
-
-/// A `Duration` type to represent a span of time.
-///
-/// This data type is only available when the `timer-queue` feature is enabled
-#[derive(Clone, Copy, Default, Eq, Ord, PartialEq, PartialOrd)]
-#[cfg(feature = "timer-queue")]
-pub struct Duration(u32);
-
-#[cfg(feature = "timer-queue")]
-impl Duration {
-    /// Returns the total number of clock cycles contained by this `Duration`
-    pub fn as_cycles(&self) -> u32 {
-        self.0
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl ops::AddAssign for Duration {
-    fn add_assign(&mut self, dur: Duration) {
-        self.0 += dur.0;
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl ops::Add<Duration> for Duration {
-    type Output = Self;
-
-    fn add(self, other: Self) -> Self {
-        Duration(self.0 + other.0)
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl ops::SubAssign for Duration {
-    fn sub_assign(&mut self, rhs: Duration) {
-        self.0 -= rhs.0;
-    }
-}
-
-#[cfg(feature = "timer-queue")]
-impl ops::Sub<Duration> for Duration {
-    type Output = Self;
-
-    fn sub(self, rhs: Self) -> Self {
-        Duration(self.0 - rhs.0)
-    }
-}
-
-/// Adds the `cycles` method to the `u32` type
-///
-/// This trait is only available when the `timer-queue` feature is enabled
-#[cfg(feature = "timer-queue")]
-pub trait U32Ext {
-    /// Converts the `u32` value into clock cycles
-    fn cycles(self) -> Duration;
-}
-
-#[cfg(feature = "timer-queue")]
-impl U32Ext for u32 {
-    fn cycles(self) -> Duration {
-        Duration(self)
-    }
-}
-
-/// Memory safe access to shared resources
-///
-/// In RTFM, locks are implemented as critical sections that prevent other tasks from *starting*.
-/// These critical sections are implemented by temporarily increasing the dynamic priority (see
-/// [BASEPRI]) of the current context. Entering and leaving these critical sections is always done
-/// in constant time (a few instructions).
-///
-/// [BASEPRI]: https://developer.arm.com/products/architecture/cpu-architecture/m-profile/docs/100701/latest/special-purpose-mask-registers
-pub trait Mutex {
-    /// Data protected by the mutex
-    type T;
-
-    /// Creates a critical section and grants temporary access to the protected data
-    fn lock<R>(&mut self, f: impl FnOnce(&mut Self::T) -> R) -> R;
-}
-
-impl<'a, M> Mutex for &'a mut M
-where
-    M: Mutex,
-{
-    type T = M::T;
-
-    fn lock<R>(&mut self, f: impl FnOnce(&mut M::T) -> R) -> R {
-        (**self).lock(f)
-    }
-}
-
-/// Newtype over `&'a mut T` that implements the `Mutex` trait
-///
-/// The `Mutex` implementation for this type is a no-op, no critical section is created
-pub struct Exclusive<'a, T>(pub &'a mut T);
-
-impl<'a, T> Mutex for Exclusive<'a, T> {
-    type T = T;
-
-    fn lock<R>(&mut self, f: impl FnOnce(&mut T) -> R) -> R {
-        f(self.0)
-    }
-}
-
-impl<'a, T> fmt::Debug for Exclusive<'a, T>
-where
-    T: fmt::Debug,
-{
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        (**self).fmt(f)
-    }
-}
-
-impl<'a, T> fmt::Display for Exclusive<'a, T>
-where
-    T: fmt::Display,
-{
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        (**self).fmt(f)
-    }
-}
-
-impl<'a, T> ops::Deref for Exclusive<'a, T> {
-    type Target = T;
-
-    fn deref(&self) -> &T {
-        self.0
-    }
-}
-
-impl<'a, T> ops::DerefMut for Exclusive<'a, T> {
-    fn deref_mut(&mut self) -> &mut T {
-        self.0
-    }
 }
 
 /// Sets the given `interrupt` as pending

src/tq.rs

@@ -1,36 +1,34 @@
-use core::cmp::{self, Ordering};
+use core::{
+    cmp::{self, Ordering},
+    convert::TryInto,
+    mem,
+    ops::Sub,
+};
 
 use cortex_m::peripheral::{SCB, SYST};
 use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
 
-use crate::Instant;
+use crate::Monotonic;
 
-pub struct TimerQueue<T, N>
+pub struct TimerQueue<M, T, N>(pub BinaryHeap<NotReady<M, T>, N, Min>)
 where
-    N: ArrayLength<NotReady<T>>,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
+    N: ArrayLength<NotReady<M, T>>,
+    T: Copy;
+
+impl<M, T, N> TimerQueue<M, T, N>
+where
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
+    N: ArrayLength<NotReady<M, T>>,
     T: Copy,
 {
-    pub syst: SYST,
-    pub queue: BinaryHeap<NotReady<T>, N, Min>,
-}
-
-impl<T, N> TimerQueue<T, N>
-where
-    N: ArrayLength<NotReady<T>>,
-    T: Copy,
-{
-    pub fn new(syst: SYST) -> Self {
-        TimerQueue {
-            syst,
-            queue: BinaryHeap::new(),
-        }
-    }
-
     #[inline]
-    pub unsafe fn enqueue_unchecked(&mut self, nr: NotReady<T>) {
+    pub unsafe fn enqueue_unchecked(&mut self, nr: NotReady<M, T>) {
         let mut is_empty = true;
         if self
-            .queue
+            .0
             .peek()
             .map(|head| {
                 is_empty = false;
@@ -39,77 +37,102 @@ where
             .unwrap_or(true)
         {
             if is_empty {
-                self.syst.enable_interrupt();
+                mem::transmute::<_, SYST>(()).enable_interrupt();
             }
 
             // set SysTick pending
             SCB::set_pendst();
         }
 
-        self.queue.push_unchecked(nr);
+        self.0.push_unchecked(nr);
     }
 
     #[inline]
     pub fn dequeue(&mut self) -> Option<(T, u8)> {
-        if let Some(instant) = self.queue.peek().map(|p| p.instant) {
+        unsafe {
-            let diff = instant.0.wrapping_sub(Instant::now().0);
+            if let Some(instant) = self.0.peek().map(|p| p.instant) {
+                let now = M::now();
 
-            if diff < 0 {
+                if instant < now {
-                // task became ready
+                    // task became ready
-                let nr = unsafe { self.queue.pop_unchecked() };
+                    let nr = self.0.pop_unchecked();
 
-                Some((nr.task, nr.index))
+                    Some((nr.task, nr.index))
+                } else {
+                    // set a new timeout
+                    const MAX: u32 = 0x00ffffff;
+
+                    let dur = match (instant - now)
+                        .try_into()
+                        .ok()
+                        .and_then(|x| x.checked_mul(M::ratio()))
+                    {
+                        None => MAX,
+                        Some(x) => cmp::min(MAX, x),
+                    };
+                    mem::transmute::<_, SYST>(()).set_reload(dur);
+
+                    // start counting down from the new reload
+                    mem::transmute::<_, SYST>(()).clear_current();
+
+                    None
+                }
             } else {
-                // set a new timeout
+                // the queue is empty
-                const MAX: u32 = 0x00ffffff;
+                mem::transmute::<_, SYST>(()).disable_interrupt();
-
-                self.syst.set_reload(cmp::min(MAX, diff as u32));
-
-                // start counting down from the new reload
-                self.syst.clear_current();
 
                 None
             }
-        } else {
-            // the queue is empty
-            self.syst.disable_interrupt();
-            None
         }
     }
 }
 
-pub struct NotReady<T>
+pub struct NotReady<M, T>
 where
     T: Copy,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
 {
     pub index: u8,
-    pub instant: Instant,
+    pub instant: M::Instant,
     pub task: T,
 }
 
-impl<T> Eq for NotReady<T> where T: Copy {}
+impl<M, T> Eq for NotReady<M, T>
-
-impl<T> Ord for NotReady<T>
 where
     T: Copy,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
+{
+}
+
+impl<M, T> Ord for NotReady<M, T>
+where
+    T: Copy,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
 {
     fn cmp(&self, other: &Self) -> Ordering {
         self.instant.cmp(&other.instant)
     }
 }
 
-impl<T> PartialEq for NotReady<T>
+impl<M, T> PartialEq for NotReady<M, T>
 where
     T: Copy,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
 {
     fn eq(&self, other: &Self) -> bool {
         self.instant == other.instant
     }
 }
 
-impl<T> PartialOrd for NotReady<T>
+impl<M, T> PartialOrd for NotReady<M, T>
 where
     T: Copy,
+    M: Monotonic,
+    <M::Instant as Sub>::Output: TryInto<u32>,
 {
     fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
         Some(self.cmp(&other))

tests/cfail/duplicate-args-2.rs

@@ -1,24 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[task(
-        priority = 1,
-        priority = 2, //~ ERROR argument appears more than once
-    )]
-    fn foo(_: foo::Context) {}
-
-    extern "C" {
-        fn UART0();
-    }
-};

tests/cfail/duplicate-args.rs

@@ -1,24 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[task(
-        capacity = 1,
-        capacity = 2, //~ ERROR argument appears more than once
-    )]
-    fn foo(_: foo::Context) {}
-
-    extern "C" {
-        fn UART0();
-    }
-};

tests/cfail/exception-divergent.rs

@@ -1,20 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[exception]
-    fn SVCall(_: SVCall::Context) -> ! {
-        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
-        loop {}
-    }
-};

tests/cfail/exception-input.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[exception]
-    fn SVCall(_: SVCall::Context, undef: u32) {
-        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
-    }
-};

tests/cfail/exception-invalid.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[exception]
-    fn NonMaskableInt(_: NonMaskableInt::Context) {
-        //~^ ERROR only exceptions with configurable priority can be used as hardware tasks
-    }
-};

tests/cfail/exception-output.rs

@@ -1,20 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[exception]
-    fn SVCall(_: SVCall::Context) -> u32 {
-        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
-        0
-    }
-};

tests/cfail/exception-sys-tick.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[exception]
-    fn SysTick(_: SysTick::Context) {
-        //~^ ERROR the `SysTick` exception can't be used because it's used by the runtime
-    }
-};

tests/cfail/idle-input.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[idle]
-    fn idle(_: idle::Context, undef: u32) {
-        //~^ ERROR `idle` must have type signature `fn(idle::Context) -> !`
-    }
-};

tests/cfail/idle-not-divergent.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[idle]
-    fn idle(_: idle::Context) {
-        //~^ ERROR `idle` must have type signature `fn(idle::Context) -> !`
-    }
-};

tests/cfail/init-divergent.rs

@@ -1,17 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) -> ! {
-        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
-        loop {}
-    }
-};

tests/cfail/init-extra-late-resources.rs

@@ -1,15 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) -> init::LateResources {}
-    //~^ error: `init` signature must be `fn(init::Context)` if there are no late resources
-};

tests/cfail/init-input.rs

@@ -1,16 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context, undef: u32) {
-        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
-    }
-};

tests/cfail/init-missing-late-resources.rs

@@ -1,17 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    static mut X: i32 = ();
-
-    #[init]
-    fn init(_: init::Context) {}
-    //~^ error: late resources have been specified so `init` must return `init::LateResources`
-};

tests/cfail/init-not-send.rs

@@ -1,29 +0,0 @@
-//! This is equivalent to the `late-not-send` cfail test
-
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use core::marker::PhantomData;
-
-use rtfm::app;
-
-pub struct NotSend {
-    _0: PhantomData<*const ()>,
-}
-
-#[app(device = lm3s6965)] //~ ERROR `*const ()` cannot be sent between threads safely
-const APP: () = {
-    static mut X: Option<NotSend> = None;
-
-    #[init(resources = [X])]
-    fn init(c: init::Context) {
-        *c.resources.X = Some(NotSend { _0: PhantomData })
-    }
-
-    #[interrupt(resources = [X])]
-    fn UART0(_: UART0::Context) {}
-};

tests/cfail/init-output.rs

@@ -1,17 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) -> u32 {
-        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
-        0
-    }
-};

tests/cfail/insufficient-free-interrupts.rs

@@ -1,17 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)] //~ ERROR 1 free interrupt (`extern { .. }`) is required
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[task]
-    fn foo(_: foo::Context) {}
-};

tests/cfail/interrupt-divergent.rs

@@ -1,20 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[interrupt]
-    fn UART0(_: UART0::Context) -> ! {
-        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
-        loop {}
-    }
-};

tests/cfail/interrupt-input.rs

@@ -1,19 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[interrupt]
-    fn UART0(_: UART0::Context, undef: u32) {
-        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
-    }
-};

tests/cfail/interrupt-output.rs

@@ -1,20 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[interrupt]
-    fn UART0(_: UART0::Context) -> u32 {
-        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
-        0
-    }
-};

tests/cfail/late-assigned-to-init.rs

@@ -1,16 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    static mut X: u32 = ();
-
-    #[init(resources = [X])] //~ ERROR late resources can NOT be assigned to `init`
-    fn init(_: init::Context) {}
-};

tests/cfail/late-not-send.rs

@@ -1,32 +0,0 @@
-//! `init` has a static priority of `0`. Initializing resources from it is equivalent to sending a
-//! message to the task that will own the resource
-
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use core::marker::PhantomData;
-
-use rtfm::app;
-
-struct NotSend {
-    _0: PhantomData<*const ()>,
-}
-
-#[app(device = lm3s6965)] //~ ERROR `*const ()` cannot be sent between threads safely
-const APP: () = {
-    static mut X: NotSend = ();
-
-    #[init]
-    fn init(_: init::Context) -> init::LateResources {
-        init::LateResources {
-            X: NotSend { _0: PhantomData },
-        }
-    }
-
-    #[interrupt(resources = [X])]
-    fn UART0(_: UART0::Context) {}
-};

tests/cfail/needs-send.rs

@@ -1,29 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use core::marker::PhantomData;
-
-use rtfm::app;
-
-pub struct NotSend {
-    _0: PhantomData<*const ()>,
-}
-
-unsafe impl Sync for NotSend {}
-
-#[app(device = lm3s6965)] //~ ERROR cannot be sent between threads safely
-const APP: () = {
-    #[init(spawn = [foo])]
-    fn init(_: init::Context) {}
-
-    #[task]
-    fn foo(_: foo::Context, _x: NotSend) {}
-
-    extern "C" {
-        fn UART0();
-    }
-};

tests/cfail/needs-sync.rs

@@ -1,35 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use core::marker::PhantomData;
-
-use rtfm::app;
-
-pub struct NotSync {
-    _0: PhantomData<*const ()>,
-}
-
-unsafe impl Send for NotSync {}
-
-#[app(device = lm3s6965)] //~ ERROR cannot be shared between threads safely
-const APP: () = {
-    static X: NotSync = NotSync { _0: PhantomData };
-
-    #[init(spawn = [foo])]
-    fn init(_: init::Context) {}
-
-    #[task(priority = 1, resources = [X])]
-    fn foo(_: foo::Context) {}
-
-    #[task(priority = 2, resources = [X])]
-    fn bar(_: bar::Context) {}
-
-    extern "C" {
-        fn UART0();
-        fn UART1();
-    }
-};

tests/cfail/priority-too-high.rs

@@ -1,22 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)] //~ error evaluation of constant value failed
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    // OK, this is the maximum priority supported by the device
-    #[interrupt(priority = 8)]
-    fn UART0(_: UART0::Context) {}
-
-    // this value is too high!
-    #[interrupt(priority = 9)]
-    fn UART1(_: UART1::Context) {}
-};

tests/cfail/priority-too-low.rs

@@ -1,22 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    // OK, this is the minimum priority that tasks can have
-    #[interrupt(priority = 1)]
-    fn UART0(_: UART0::Context) {}
-
-    // this value is too low!
-    #[interrupt(priority = 0)] //~ error this literal must be in the range 1...255
-    fn UART1(_: UART1::Context) {}
-};

tests/cfail/resource-not-declared.rs

@@ -1,14 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init(resources = [X])] //~ ERROR this resource has NOT been declared
-    fn init(_: init::Context) {}
-};

tests/cfail/resource-pub.rs

@@ -1,17 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    pub static mut X: u32 = 0;
-    //~^ ERROR resources must have inherited / private visibility
-
-    #[init]
-    fn init(_: init::Context) {}
-};

tests/cfail/task-divergent.rs

@@ -1,22 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-#[rtfm::app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[task]
-    fn foo(_: foo::Context) -> ! {
-        //~^ ERROR this `task` handler must have type signature `fn(foo::Context, ..)`
-        loop {}
-    }
-
-    extern "C" {
-        fn UART0();
-    }
-};

tests/cfail/task-idle.rs

@@ -1,23 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-
-    #[task]
-    fn idle(_: idle::Context) {
-        //~^ ERROR `task` handlers can NOT be named `idle`, `init` or `resources`
-    }
-
-    extern "C" {
-        fn UART0();
-    }
-};