Merge #176

176:  implement RFCs 147 and 155, fix #141, etc. r=japaric a=japaric

This PR:

- Implements RFC 147: "all functions must be safe"

- Implements RFC 155: "explicit Context parameter"

- Implements the pending breaking change #141: reject assign syntax in `init`
  (which was used to initialize late resources)

- Refactors code generation to make it more readable -- there are no more random
  identifiers in the output -- and align it with the book description of RTFM
  internals (see PR #175).

- Makes the framework hard depend on `core::mem::MaybeUninit` and thus will
  require nightly until that API is stabilized.

- Fixes a ceiling analysis bug where the priority of the system timer was not
  considered in the analysis (TODO backport this into the v0.4.x branch).

- Shrinks the size of all the internal queues by turning `AtomicUsize` indices
  into `AtomicU8`s.

- Removes the integration with `owned_singleton`.

closes #141
closes #147
closes #155

Additionally:

- This changes CI to push v0.5.x docs to
  https://japaric.github.io/rtfm5/book/en/ -- we need to do this because our
  official docs are hosted on https://japaric.github.io/cortex-m-rtfm and we
  need to keep them on v0.4.x until we release v0.5.0

- I propose that we use the master branch to develop the upcoming v0.5.0.

- I have created a branch v0.4.x for backports; new v0.4.x releases will come
  from that branch.

r? @korken89 @texitoi, sorry for doing all the impl work in a single commit --
I know that makes things harder to review for you.

Suggestions for compile-pass and compile-fail tests are welcome


Co-authored-by: Jorge Aparicio <jorge@japaric.io>

.travis.yml

@@ -3,17 +3,17 @@ language: rust
 matrix:
   include:
     # NOTE used to build docs on successful merges to master
-    - env: TARGET=x86_64-unknown-linux-gnu
+    # - env: TARGET=x86_64-unknown-linux-gnu
 
-    - env: TARGET=thumbv6m-none-eabi
+    # - env: TARGET=thumbv6m-none-eabi
-      if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
+    #   if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
 
-    - env: TARGET=thumbv7m-none-eabi
+    # - env: TARGET=thumbv7m-none-eabi
-      if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
+    #   if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
 
     - env: TARGET=x86_64-unknown-linux-gnu
       rust: nightly
-      if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
+      # if: (branch = staging OR branch = trying) OR (type = pull_request AND branch = master)
 
     - env: TARGET=thumbv6m-none-eabi
       rust: nightly

CHANGELOG.md

@@ -5,6 +5,35 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+## v0.5.0 - 2019-??-?? (ALPHA pre-release)
+
+### Changed
+
+- [breaking-change][] [RFC 155] "explicit `Context` parameter" has been
+  implemented.
+
+[RFC 155]: https://github.com/japaric/cortex-m-rtfm/issues/155
+
+- [breaking-change][] [RFC 147] "all functions must be safe" has been
+  implemented.
+
+[RFC 147]: https://github.com/japaric/cortex-m-rtfm/issues/147
+
+- All the queues internally used by the framework now use `AtomicU8` indices
+  instead of `AtomicUsize`; this reduces the static memory used by the
+  framework.
+
+### Removed
+
+- [breaking-change] the integration with the `owned_singleton` crate has been
+  removed. You can use `heapless::Pool` instead of `alloc_singleton`.
+
+- [breaking-change] late resources can no longer be initialized using the assign
+  syntax. `init::LateResources` is the only method to initialize late resources.
+  See [PR #140] for more details.
+
+[PR #140]: https://github.com/japaric/cortex-m-rtfm/pull/140
+
 ## [v0.4.3] - 2019-04-21
 
 ### Changed

Cargo.toml

@@ -12,7 +12,7 @@ license = "MIT OR Apache-2.0"
 name = "cortex-m-rtfm"
 readme = "README.md"
 repository = "https://github.com/japaric/cortex-m-rtfm"
-version = "0.4.3"
+version = "0.5.0-alpha.1"
 
 [lib]
 name = "rtfm"
@@ -25,6 +25,12 @@ required-features = ["timer-queue"]
 name = "periodic"
 required-features = ["timer-queue"]
 
+[[example]]
+name = "pool"
+# this example doesn't need this feature but only works on ARMv7-M
+# specifying the feature here avoids compiling this for ARMv6-M
+required-features = ["timer-queue"]
+
 [[example]]
 name = "schedule"
 required-features = ["timer-queue"]
@@ -36,12 +42,13 @@ required-features = ["timer-queue"]
 [dependencies]
 cortex-m = "0.5.8"
 cortex-m-rt = "0.6.7"
-cortex-m-rtfm-macros = { path = "macros", version = "0.4.3" }
+cortex-m-rtfm-macros = { path = "macros", version = "0.5.0-alpha.1" }
-heapless = "0.4.1"
+
-owned-singleton = "0.1.0"
+[dependencies.heapless]
+features = ["smaller-atomics", "min-const-fn"]
+version = "0.4.3"
 
 [dev-dependencies]
-alloc-singleton = "0.1.0"
 cortex-m-semihosting = "0.3.2"
 lm3s6965 = "0.1.3"
 panic-halt = "0.2.0"

README.md

@@ -41,13 +41,13 @@ A concurrency framework for building real time systems.
 
 ## Requirements
 
-- Rust 1.31.0+
+- Rust 1.36.0+
 
 - Applications must be written using the 2018 edition.
 
-## [User documentation](https://japaric.github.io/cortex-m-rtfm/book/en)
+## [User documentation](https://japaric.github.io/rtfm5/book/en)
 
-## [API reference](https://japaric.github.io/cortex-m-rtfm/api/rtfm/index.html)
+## [API reference](https://japaric.github.io/rtfm5/api/rtfm/index.html)
 
 ## Acknowledgments
 

book/en/src/SUMMARY.md

@@ -6,7 +6,6 @@
   - [Resources](./by-example/resources.md)
   - [Tasks](./by-example/tasks.md)
   - [Timer queue](./by-example/timer-queue.md)
-  - [Singletons](./by-example/singletons.md)
   - [Types, Send and Sync](./by-example/types-send-sync.md)
   - [Starting a new project](./by-example/new.md)
   - [Tips & tricks](./by-example/tips.md)

book/en/src/by-example/app.md

@@ -28,15 +28,14 @@ not required to use the [`cortex_m_rt::entry`] attribute.
 
 Within the pseudo-module the `app` attribute expects to find an initialization
 function marked with the `init` attribute. This function must have signature
-`[unsafe] fn()`.
+`fn(init::Context) [-> init::LateResources]`.
 
 This initialization function will be the first part of the application to run.
 The `init` function will run *with interrupts disabled* and has exclusive access
 to Cortex-M and device specific peripherals through the `core` and `device`
-variables, which are injected in the scope of `init` by the `app` attribute. Not
+variables fields of `init::Context`. Not all Cortex-M peripherals are available
-all Cortex-M peripherals are available in `core` because the RTFM runtime takes
+in `core` because the RTFM runtime takes ownership of some of them -- for more
-ownership of some of them -- for more details see the [`rtfm::Peripherals`]
+details see the [`rtfm::Peripherals`] struct.
-struct.
 
 `static mut` variables declared at the beginning of `init` will be transformed
 into `&'static mut` references that are safe to access.
@@ -61,7 +60,7 @@ $ cargo run --example init
 
 A function marked with the `idle` attribute can optionally appear in the
 pseudo-module. This function is used as the special *idle task* and must have
-signature `[unsafe] fn() - > !`.
+signature `fn(idle::Context) - > !`.
 
 When present, the runtime will execute the `idle` task after `init`. Unlike
 `init`, `idle` will run *with interrupts enabled* and it's not allowed to return

book/en/src/by-example/new.md

@@ -40,7 +40,7 @@ $ rm memory.x build.rs
    `timer-queue` feature.
 
 ``` console
-$ cargo add cortex-m-rtfm
+$ cargo add cortex-m-rtfm --allow-prerelease
 ```
 
 4. Write your RTFM application.
@@ -49,7 +49,7 @@ Here I'll use the `init` example from the `cortex-m-rtfm` crate.
 
 ``` console
 $ curl \
-    -L https://github.com/japaric/cortex-m-rtfm/raw/v0.4.0/examples/init.rs \
+    -L https://github.com/japaric/cortex-m-rtfm/raw/v0.5.0-alpha.1/examples/init.rs \
     > src/main.rs
 ```
 

book/en/src/by-example/resources.md

@@ -10,7 +10,7 @@ have enough information to optimize the access to the shared data.
 The `app` attribute has a full view of the application thus it can optimize
 access to `static` variables. In RTFM we refer to the `static` variables
 declared inside the `app` pseudo-module as *resources*. To access a resource the
-context (`init`, `idle`, `interrupt` or `exception`) must first declare the
+context (`init`, `idle`, `interrupt` or `exception`) one must first declare the
 resource in the `resources` argument of its attribute.
 
 In the example below two interrupt handlers access the same resource. No `Mutex`
@@ -30,7 +30,7 @@ $ cargo run --example resource
 
 The priority of each handler can be declared in the `interrupt` and `exception`
 attributes. It's not possible to set the priority in any other way because the
-runtime takes ownership of the `NVIC` peripheral; it's also not possible to
+runtime takes ownership of the `NVIC` peripheral thus it's also not possible to
 change the priority of a handler / task at runtime. Thanks to this restriction
 the framework has knowledge about the *static* priorities of all interrupt and
 exception handlers.
@@ -71,10 +71,10 @@ $ cargo run --example lock
 
 One more note about priorities: choosing a priority higher than what the device
 supports (that is `1 << NVIC_PRIO_BITS`) will result in a compile error. Due to
-limitations in the language the error is currently far from helpful: it will say
+limitations in the language the error message is currently far from helpful: it
-something along the lines of "evaluation of constant value failed" and the span
+will say something along the lines of "evaluation of constant value failed" and
-of the error will *not* point out to the problematic interrupt value -- we are
+the span of the error will *not* point out to the problematic interrupt value --
-sorry about this!
+we are sorry about this!
 
 ## Late resources
 

book/en/src/by-example/singletons.md

@@ -1,26 +0,0 @@
-# Singletons
-
-The `app` attribute is aware of [`owned-singleton`] crate and its [`Singleton`]
-attribute. When this attribute is applied to one of the resources the runtime
-will perform the `unsafe` initialization of the singleton for you, ensuring that
-only a single instance of the singleton is ever created.
-
-[`owned-singleton`]: ../../api/owned_singleton/index.html
-[`Singleton`]: ../../api/owned_singleton_macros/attr.Singleton.html
-
-Note that when using the `Singleton` attribute you'll need to have the
-`owned_singleton` in your dependencies.
-
-Below is an example that uses the `Singleton` attribute on a chunk of memory
-and then uses the singleton instance as a fixed-size memory pool using one of
-the [`alloc-singleton`] abstractions.
-
-[`alloc-singleton`]: https://crates.io/crates/alloc-singleton
-
-``` rust
-{{#include ../../../../examples/singleton.rs}}
-```
-
-``` console
-$ cargo run --example singleton
-{{#include ../../../../ci/expected/singleton.run}}```

book/en/src/by-example/tips.md

@@ -24,8 +24,8 @@ of tasks.
 
 You can use conditional compilation (`#[cfg]`) on resources (`static [mut]`
 items) and tasks (`fn` items). The effect of using `#[cfg]` attributes is that
-the resource / task will *not* be injected into the prelude of tasks that use
+the resource / task will *not* be available through the corresponding `Context`
-them (see `resources`, `spawn` and `schedule`) if the condition doesn't hold.
+`struct` if the condition doesn't hold.
 
 The example below logs a message whenever the `foo` task is spawned, but only if
 the program has been compiled using the `dev` profile.
@@ -37,7 +37,7 @@ the program has been compiled using the `dev` profile.
 ## Running tasks from RAM
 
 The main goal of moving the specification of RTFM applications to attributes in
-RTFM v0.4.x was to allow inter-operation with other attributes. For example, the
+RTFM v0.4.0 was to allow inter-operation with other attributes. For example, the
 `link_section` attribute can be applied to tasks to place them in RAM; this can
 improve performance in some cases.
 
@@ -78,8 +78,6 @@ $ cargo nm --example ramfunc --release | grep ' bar::'
 
 ## `binds`
 
-**NOTE**: Requires RTFM ~0.4.2
-
 You can give hardware tasks more task-like names using the `binds` argument: you
 name the function as you wish and specify the name of the interrupt / exception
 in the `binds` argument. Types like `Spawn` will be placed in a module named
@@ -91,3 +89,27 @@ after the function, not the interrupt / exception. Example below:
 ``` console
 $ cargo run --example binds
 {{#include ../../../../ci/expected/binds.run}}```
+
+## Indirection for faster message passing
+
+Message passing always involves copying the payload from the sender into a
+static variable and then from the static variable into the receiver. Thus
+sending a large buffer, like a `[u8; 128]`, as a message involves two expensive
+`memcpy`s. To minimize the message passing overhead one can use indirection:
+instead of sending the buffer by value, one can send an owning pointer into the
+buffer.
+
+One can use a global allocator to achieve indirection (`alloc::Box`,
+`alloc::Rc`, etc.), which requires using the nightly channel as of Rust v1.34.0,
+or one can use a statically allocated memory pool like [`heapless::Pool`].
+
+[`heapless::Pool`]: https://docs.rs/heapless/0.4.3/heapless/pool/index.html
+
+Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes.
+
+``` rust
+{{#include ../../../../examples/pool.rs}}
+```
+``` console
+$ cargo run --example binds
+{{#include ../../../../ci/expected/pool.run}}```

book/en/src/by-example/types-send-sync.md

@@ -7,8 +7,7 @@ write plain functions that take them as arguments.
 The API reference specifies how these types are generated from the input. You
 can also generate documentation for you binary crate (`cargo doc --bin <name>`);
 in the documentation you'll find `Context` structs (e.g. `init::Context` and
-`idle::Context`) whose fields represent the variables injected into each
+`idle::Context`).
-function.
 
 The example below shows the different types generates by the `app` attribute.
 

book/en/src/preface.md

@@ -11,6 +11,9 @@ There is a translation of this book in [Russian].
 
 [Russian]: ../ru/index.html
 
+**HEADS UP** This is an **alpha** pre-release; there may be breaking changes in
+the API and semantics before a proper release is made.
+
 {{#include ../../../README.md:5:46}}
 
 {{#include ../../../README.md:52:}}

ci/after-success.sh

@@ -23,7 +23,8 @@ main() {
     ./ghp-import/ghp_import.py $td
 
     set +x
-    git push -fq https://$GH_TOKEN@github.com/$TRAVIS_REPO_SLUG.git gh-pages && echo OK
+    # NOTE push documentation to a different repository
+    git push -fq https://$GH_TOKEN@github.com/japaric/rtfm5.git gh-pages && echo OK
 
     rm -rf $td
 }

ci/expected/pool.run

@@ -0,0 +1,2 @@
+bar(0x2000008c)
+foo(0x20000110)

ci/script.sh

@@ -104,14 +104,13 @@ main() {
                 message
                 capacity
 
-                singleton
-
                 types
                 not-send
                 not-sync
                 shared-with-init
 
                 generics
+                pool
                 ramfunc
             )
 
@@ -121,6 +120,31 @@ main() {
                     continue
                 fi
 
+                if [ $ex = pool ]; then
+                    if [ $TARGET != thumbv6m-none-eabi ]; then
+                        local td=$(mktemp -d)
+
+                        local features="$nightly,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
+
+                    continue
+                fi
+
                 if [ $ex != types ]; then
                     arm_example "run" $ex "debug" "$nightly" "1"
                     arm_example "run" $ex "release" "$nightly" "1"
@@ -140,13 +164,7 @@ main() {
                     continue
                 fi
 
-                if [ $ex = singleton ]; then
+                if [ $ex != types ] && [ $ex != pool ]; then
-                    # singleton build is currently not reproducible due to
-                    # https://github.com/japaric/owned-singleton/issues/2
-                    continue
-                fi
-
-                if [ $ex != types ]; then
                     arm_example "build" $ex "debug" "$nightly" "2"
                     cmp ci/builds/${ex}_${nightly/nightly/nightly_}debug_1.hex \
                         ci/builds/${ex}_${nightly/nightly/nightly_}debug_2.hex

examples/baseline.rs

@@ -9,24 +9,23 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
 // NOTE: does NOT properly work on QEMU
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init() {
+    fn init(c: init::Context) {
-        hprintln!("init(baseline = {:?})", start).unwrap();
+        hprintln!("init(baseline = {:?})", c.start).unwrap();
 
         // `foo` inherits the baseline of `init`: `Instant(0)`
-        spawn.foo().unwrap();
+        c.spawn.foo().unwrap();
     }
 
     #[task(schedule = [foo])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         static mut ONCE: bool = true;
 
-        hprintln!("foo(baseline = {:?})", scheduled).unwrap();
+        hprintln!("foo(baseline = {:?})", c.scheduled).unwrap();
 
         if *ONCE {
             *ONCE = false;
@@ -38,11 +37,11 @@ const APP: () = {
     }
 
     #[interrupt(spawn = [foo])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        hprintln!("UART0(baseline = {:?})", start).unwrap();
+        hprintln!("UART0(baseline = {:?})", c.start).unwrap();
 
         // `foo` inherits the baseline of `UART0`: its `start` time
-        spawn.foo().unwrap();
+        c.spawn.foo().unwrap();
     }
 
     extern "C" {

examples/binds.rs

@@ -9,20 +9,19 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
 // `examples/interrupt.rs` rewritten to use `binds`
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         rtfm::pend(Interrupt::UART0);
 
         hprintln!("init").unwrap();
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         hprintln!("idle").unwrap();
 
         rtfm::pend(Interrupt::UART0);
@@ -33,7 +32,7 @@ const APP: () = {
     }
 
     #[interrupt(binds = UART0)]
-    fn foo() {
+    fn foo(_: foo::Context) {
         static mut TIMES: u32 = 0;
 
         *TIMES += 1;

examples/capacity.rs

@@ -9,32 +9,31 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         rtfm::pend(Interrupt::UART0);
     }
 
     #[interrupt(spawn = [foo, bar])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        spawn.foo(0).unwrap();
+        c.spawn.foo(0).unwrap();
-        spawn.foo(1).unwrap();
+        c.spawn.foo(1).unwrap();
-        spawn.foo(2).unwrap();
+        c.spawn.foo(2).unwrap();
-        spawn.foo(3).unwrap();
+        c.spawn.foo(3).unwrap();
 
-        spawn.bar().unwrap();
+        c.spawn.bar().unwrap();
     }
 
     #[task(capacity = 4)]
-    fn foo(x: u32) {
+    fn foo(_: foo::Context, x: u32) {
         hprintln!("foo({})", x).unwrap();
     }
 
     #[task]
-    fn bar() {
+    fn bar(_: bar::Context) {
         hprintln!("bar").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);

examples/cfg.rs

@@ -9,25 +9,24 @@ extern crate panic_semihosting;
 
 #[cfg(debug_assertions)]
 use cortex_m_semihosting::hprintln;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[cfg(debug_assertions)] // <- `true` when using the `dev` profile
     static mut COUNT: u32 = 0;
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         // ..
     }
 
     #[task(priority = 3, resources = [COUNT], spawn = [log])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         #[cfg(debug_assertions)]
         {
-            *resources.COUNT += 1;
+            *c.resources.COUNT += 1;
 
-            spawn.log(*resources.COUNT).ok();
+            c.spawn.log(*c.resources.COUNT).ok();
         }
 
         // this wouldn't compile in `release` mode
@@ -38,7 +37,7 @@ const APP: () = {
 
     #[cfg(debug_assertions)]
     #[task]
-    fn log(n: u32) {
+    fn log(_: log::Context, n: u32) {
         hprintln!(
             "foo has been called {} time{}",
             n,

examples/generics.rs

@@ -9,25 +9,25 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::{app, Mutex};
+use rtfm::Mutex;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static mut SHARED: u32 = 0;
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         rtfm::pend(Interrupt::UART0);
         rtfm::pend(Interrupt::UART1);
     }
 
     #[interrupt(resources = [SHARED])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
         static mut STATE: u32 = 0;
 
         hprintln!("UART0(STATE = {})", *STATE).unwrap();
 
-        advance(STATE, resources.SHARED);
+        advance(STATE, c.resources.SHARED);
 
         rtfm::pend(Interrupt::UART1);
 
@@ -35,17 +35,17 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn UART1() {
+    fn UART1(mut c: UART1::Context) {
         static mut STATE: u32 = 0;
 
         hprintln!("UART1(STATE = {})", *STATE).unwrap();
 
         // just to show that `SHARED` can be accessed directly and ..
-        *resources.SHARED += 0;
+        *c.resources.SHARED += 0;
         // .. also through a (no-op) `lock`
-        resources.SHARED.lock(|shared| *shared += 0);
+        c.resources.SHARED.lock(|shared| *shared += 0);
 
-        advance(STATE, resources.SHARED);
+        advance(STATE, c.resources.SHARED);
     }
 };
 

examples/idle.rs

@@ -8,17 +8,16 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         hprintln!("init").unwrap();
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         static mut X: u32 = 0;
 
         // Safe access to local `static mut` variable

examples/init.rs

@@ -8,19 +8,18 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(c: init::Context) {
         static mut X: u32 = 0;
 
         // Cortex-M peripherals
-        let _core: rtfm::Peripherals = core;
+        let _core: rtfm::Peripherals = c.core;
 
         // Device specific peripherals
-        let _device: lm3s6965::Peripherals = device;
+        let _device: lm3s6965::Peripherals = c.device;
 
         // Safe access to local `static mut` variable
         let _x: &'static mut u32 = X;

examples/interrupt.rs

@@ -9,12 +9,11 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         // Pends the UART0 interrupt but its handler won't run until *after*
         // `init` returns because interrupts are disabled
         rtfm::pend(Interrupt::UART0);
@@ -23,7 +22,7 @@ const APP: () = {
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         // interrupts are enabled again; the `UART0` handler runs at this point
 
         hprintln!("idle").unwrap();
@@ -36,7 +35,7 @@ const APP: () = {
     }
 
     #[interrupt]
-    fn UART0() {
+    fn UART0(_: UART0::Context) {
         static mut TIMES: u32 = 0;
 
         // Safe access to local `static mut` variable

examples/late.rs

@@ -13,16 +13,15 @@ use heapless::{
     spsc::{Consumer, Producer, Queue},
 };
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     // Late resources
     static mut P: Producer<'static, u32, U4> = ();
     static mut C: Consumer<'static, u32, U4> = ();
 
     #[init]
-    fn init() -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
         // NOTE: we use `Option` here to work around the lack of
         // a stable `const` constructor
         static mut Q: Option<Queue<u32, U4>> = None;
@@ -35,9 +34,9 @@ const APP: () = {
     }
 
     #[idle(resources = [C])]
-    fn idle() -> ! {
+    fn idle(c: idle::Context) -> ! {
         loop {
-            if let Some(byte) = resources.C.dequeue() {
+            if let Some(byte) = c.resources.C.dequeue() {
                 hprintln!("received message: {}", byte).unwrap();
 
                 debug::exit(debug::EXIT_SUCCESS);
@@ -48,7 +47,7 @@ const APP: () = {
     }
 
     #[interrupt(resources = [P])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        resources.P.enqueue(42).unwrap();
+        c.resources.P.enqueue(42).unwrap();
     }
 };

examples/lock.rs

@@ -9,24 +9,23 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static mut SHARED: u32 = 0;
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         rtfm::pend(Interrupt::GPIOA);
     }
 
     // when omitted priority is assumed to be `1`
     #[interrupt(resources = [SHARED])]
-    fn GPIOA() {
+    fn GPIOA(mut c: GPIOA::Context) {
         hprintln!("A").unwrap();
 
         // the lower priority task requires a critical section to access the data
-        resources.SHARED.lock(|shared| {
+        c.resources.SHARED.lock(|shared| {
             // data can only be modified within this critical section (closure)
             *shared += 1;
 
@@ -47,15 +46,15 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn GPIOB() {
+    fn GPIOB(mut c: GPIOB::Context) {
         // the higher priority task does *not* need a critical section
-        *resources.SHARED += 1;
+        *c.resources.SHARED += 1;
 
-        hprintln!("D - SHARED = {}", *resources.SHARED).unwrap();
+        hprintln!("D - SHARED = {}", *c.resources.SHARED).unwrap();
     }
 
     #[interrupt(priority = 3)]
-    fn GPIOC() {
+    fn GPIOC(_: GPIOC::Context) {
         hprintln!("C").unwrap();
     }
 };

examples/message.rs

@@ -8,41 +8,40 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init() {
+    fn init(c: init::Context) {
-        spawn.foo(/* no message */).unwrap();
+        c.spawn.foo(/* no message */).unwrap();
     }
 
     #[task(spawn = [bar])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         static mut COUNT: u32 = 0;
 
         hprintln!("foo").unwrap();
 
-        spawn.bar(*COUNT).unwrap();
+        c.spawn.bar(*COUNT).unwrap();
         *COUNT += 1;
     }
 
     #[task(spawn = [baz])]
-    fn bar(x: u32) {
+    fn bar(c: bar::Context, x: u32) {
         hprintln!("bar({})", x).unwrap();
 
-        spawn.baz(x + 1, x + 2).unwrap();
+        c.spawn.baz(x + 1, x + 2).unwrap();
     }
 
     #[task(spawn = [foo])]
-    fn baz(x: u32, y: u32) {
+    fn baz(c: baz::Context, x: u32, y: u32) {
         hprintln!("baz({}, {})", x, y).unwrap();
 
         if x + y > 4 {
             debug::exit(debug::EXIT_SUCCESS);
         }
 
-        spawn.foo().unwrap();
+        c.spawn.foo().unwrap();
     }
 
     extern "C" {

examples/not-send.rs

@@ -21,32 +21,32 @@ const APP: () = {
     static mut SHARED: Option<NotSend> = None;
 
     #[init(spawn = [baz, quux])]
-    fn init() {
+    fn init(c: init::Context) {
-        spawn.baz().unwrap();
+        c.spawn.baz().unwrap();
-        spawn.quux().unwrap();
+        c.spawn.quux().unwrap();
     }
 
     #[task(spawn = [bar])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         // scenario 1: message passed to task that runs at the same priority
-        spawn.bar(NotSend { _0: PhantomData }).ok();
+        c.spawn.bar(NotSend { _0: PhantomData }).ok();
     }
 
     #[task]
-    fn bar(_x: NotSend) {
+    fn bar(_: bar::Context, _x: NotSend) {
         // scenario 1
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn baz() {
+    fn baz(mut c: baz::Context) {
         // scenario 2: resource shared between tasks that run at the same priority
-        *resources.SHARED = Some(NotSend { _0: PhantomData });
+        *c.resources.SHARED = Some(NotSend { _0: PhantomData });
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn quux() {
+    fn quux(mut c: quux::Context) {
         // scenario 2
-        let _not_send = resources.SHARED.take().unwrap();
+        let _not_send = c.resources.SHARED.take().unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);
     }

examples/not-sync.rs

@@ -10,29 +10,28 @@ extern crate panic_halt;
 use core::marker::PhantomData;
 
 use cortex_m_semihosting::debug;
-use rtfm::app;
 
 pub struct NotSync {
     _0: PhantomData<*const ()>,
 }
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static SHARED: NotSync = NotSync { _0: PhantomData };
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         debug::exit(debug::EXIT_SUCCESS);
     }
 
     #[task(resources = [SHARED])]
-    fn foo() {
+    fn foo(c: foo::Context) {
-        let _: &NotSync = resources.SHARED;
+        let _: &NotSync = c.resources.SHARED;
     }
 
     #[task(resources = [SHARED])]
-    fn bar() {
+    fn bar(c: bar::Context) {
-        let _: &NotSync = resources.SHARED;
+        let _: &NotSync = c.resources.SHARED;
     }
 
     extern "C" {

examples/periodic.rs

@@ -8,24 +8,24 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::hprintln;
-use rtfm::{app, Instant};
+use rtfm::Instant;
 
 const PERIOD: u32 = 8_000_000;
 
 // NOTE: does NOT work on QEMU!
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(schedule = [foo])]
-    fn init() {
+    fn init(c: init::Context) {
-        schedule.foo(Instant::now() + PERIOD.cycles()).unwrap();
+        c.schedule.foo(Instant::now() + PERIOD.cycles()).unwrap();
     }
 
     #[task(schedule = [foo])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         let now = Instant::now();
-        hprintln!("foo(scheduled = {:?}, now = {:?})", scheduled, now).unwrap();
+        hprintln!("foo(scheduled = {:?}, now = {:?})", c.scheduled, now).unwrap();
 
-        schedule.foo(scheduled + PERIOD.cycles()).unwrap();
+        c.schedule.foo(c.scheduled + PERIOD.cycles()).unwrap();
     }
 
     extern "C" {

examples/pool.rs

@@ -0,0 +1,67 @@
+//! examples/pool.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![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 rtfm::app;
+
+// Declare a pool of 128-byte memory blocks
+pool!(P: [u8; 128]);
+
+#[app(device = lm3s6965)]
+const APP: () = {
+    #[init]
+    fn init(_: init::Context) {
+        static mut MEMORY: [u8; 512] = [0; 512];
+
+        // Increase the capacity of the memory pool by ~4
+        P::grow(MEMORY);
+
+        rtfm::pend(Interrupt::I2C0);
+    }
+
+    #[interrupt(priority = 2, spawn = [foo, bar])]
+    fn I2C0(c: I2C0::Context) {
+        // claim a memory block, leave it uninitialized and ..
+        let x = P::alloc().unwrap().freeze();
+
+        // .. send it to the `foo` task
+        c.spawn.foo(x).ok().unwrap();
+
+        // send another block to the task `bar`
+        c.spawn.bar(P::alloc().unwrap().freeze()).ok().unwrap();
+    }
+
+    #[task]
+    fn foo(_: foo::Context, x: Box<P>) {
+        hprintln!("foo({:?})", x.as_ptr()).unwrap();
+
+        // explicitly return the block to the pool
+        drop(x);
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+
+    #[task(priority = 2)]
+    fn bar(_: bar::Context, x: Box<P>) {
+        hprintln!("bar({:?})", x.as_ptr()).unwrap();
+
+        // this is done automatically so we can omit the call to `drop`
+        // drop(x);
+    }
+
+    extern "C" {
+        fn UART0();
+        fn UART1();
+    }
+};

examples/ramfunc.rs

@@ -8,18 +8,17 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [bar])]
-    fn init() {
+    fn init(c: init::Context) {
-        spawn.bar().unwrap();
+        c.spawn.bar().unwrap();
     }
 
     #[inline(never)]
     #[task]
-    fn foo() {
+    fn foo(_: foo::Context) {
         hprintln!("foo").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);
@@ -29,8 +28,8 @@ const APP: () = {
     #[inline(never)]
     #[link_section = ".data.bar"]
     #[task(priority = 2, spawn = [foo])]
-    fn bar() {
+    fn bar(c: bar::Context) {
-        spawn.foo().unwrap();
+        c.spawn.foo().unwrap();
     }
 
     extern "C" {

examples/resource.rs

@@ -9,21 +9,20 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     // A resource
     static mut SHARED: u32 = 0;
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         rtfm::pend(Interrupt::UART0);
         rtfm::pend(Interrupt::UART1);
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         debug::exit(debug::EXIT_SUCCESS);
 
         // error: `SHARED` can't be accessed from this context
@@ -34,17 +33,17 @@ const APP: () = {
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART0() {
+    fn UART0(mut c: UART0::Context) {
-        *resources.SHARED += 1;
+        *c.resources.SHARED += 1;
 
-        hprintln!("UART0: SHARED = {}", resources.SHARED).unwrap();
+        hprintln!("UART0: SHARED = {}", c.resources.SHARED).unwrap();
     }
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART1() {
+    fn UART1(mut c: UART1::Context) {
-        *resources.SHARED += 1;
+        *c.resources.SHARED += 1;
 
-        hprintln!("UART1: SHARED = {}", resources.SHARED).unwrap();
+        hprintln!("UART1: SHARED = {}", c.resources.SHARED).unwrap();
     }
 };

examples/schedule.rs

@@ -8,31 +8,31 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::hprintln;
-use rtfm::{app, Instant};
+use rtfm::Instant;
 
 // NOTE: does NOT work on QEMU!
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(schedule = [foo, bar])]
-    fn init() {
+    fn init(c: init::Context) {
         let now = Instant::now();
 
         hprintln!("init @ {:?}", now).unwrap();
 
         // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
-        schedule.foo(now + 8_000_000.cycles()).unwrap();
+        c.schedule.foo(now + 8_000_000.cycles()).unwrap();
 
         // Schedule `bar` to run 4e6 cycles in the future
-        schedule.bar(now + 4_000_000.cycles()).unwrap();
+        c.schedule.bar(now + 4_000_000.cycles()).unwrap();
     }
 
     #[task]
-    fn foo() {
+    fn foo(_: foo::Context) {
         hprintln!("foo  @ {:?}", Instant::now()).unwrap();
     }
 
     #[task]
-    fn bar() {
+    fn bar(_: bar::Context) {
         hprintln!("bar  @ {:?}", Instant::now()).unwrap();
     }
 

examples/shared-with-init.rs

@@ -18,17 +18,17 @@ const APP: () = {
     static mut SHARED: Option<MustBeSend> = None;
 
     #[init(resources = [SHARED])]
-    fn init() {
+    fn init(c: init::Context) {
         // this `message` will be sent to task `UART0`
         let message = MustBeSend;
-        *resources.SHARED = Some(message);
+        *c.resources.SHARED = Some(message);
 
         rtfm::pend(Interrupt::UART0);
     }
 
     #[interrupt(resources = [SHARED])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        if let Some(message) = resources.SHARED.take() {
+        if let Some(message) = c.resources.SHARED.take() {
             // `message` has been received
             drop(message);
 

examples/singleton.rs

@@ -1,61 +0,0 @@
-//! examples/singleton.rs
-
-#![deny(unsafe_code)]
-#![deny(warnings)]
-#![no_main]
-#![no_std]
-
-extern crate panic_semihosting;
-
-use alloc_singleton::stable::pool::{Box, Pool};
-use cortex_m_semihosting::{debug, hprintln};
-use lm3s6965::Interrupt;
-use rtfm::app;
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[Singleton(Send)]
-    static mut M: [u32; 2] = [0; 2];
-
-    static mut P: Pool<M> = ();
-
-    #[init(resources = [M])]
-    fn init() -> init::LateResources {
-        rtfm::pend(Interrupt::I2C0);
-
-        init::LateResources {
-            P: Pool::new(resources.M),
-        }
-    }
-
-    #[interrupt(
-        priority = 2,
-        resources = [P],
-        spawn = [foo, bar],
-    )]
-    fn I2C0() {
-        spawn.foo(resources.P.alloc(1).unwrap()).unwrap();
-        spawn.bar(resources.P.alloc(2).unwrap()).unwrap();
-    }
-
-    #[task(resources = [P])]
-    fn foo(x: Box<M>) {
-        hprintln!("foo({})", x).unwrap();
-
-        resources.P.lock(|p| p.dealloc(x));
-
-        debug::exit(debug::EXIT_SUCCESS);
-    }
-
-    #[task(priority = 2, resources = [P])]
-    fn bar(x: Box<M>) {
-        hprintln!("bar({})", x).unwrap();
-
-        resources.P.dealloc(x);
-    }
-
-    extern "C" {
-        fn UART0();
-        fn UART1();
-    }
-};

examples/smallest.rs

@@ -13,5 +13,5 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 };

examples/static.rs

@@ -9,14 +9,13 @@ extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static KEY: u32 = ();
 
     #[init]
-    fn init() -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
         rtfm::pend(Interrupt::UART0);
         rtfm::pend(Interrupt::UART1);
 
@@ -24,14 +23,14 @@ const APP: () = {
     }
 
     #[interrupt(resources = [KEY])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        hprintln!("UART0(KEY = {:#x})", resources.KEY).unwrap();
+        hprintln!("UART0(KEY = {:#x})", c.resources.KEY).unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);
     }
 
     #[interrupt(priority = 2, resources = [KEY])]
-    fn UART1() {
+    fn UART1(c: UART1::Context) {
-        hprintln!("UART1(KEY = {:#x})", resources.KEY).unwrap();
+        hprintln!("UART1(KEY = {:#x})", c.resources.KEY).unwrap();
     }
 };

examples/task.rs

@@ -8,38 +8,37 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::{debug, hprintln};
-use rtfm::app;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init() {
+    fn init(c: init::Context) {
-        spawn.foo().unwrap();
+        c.spawn.foo().unwrap();
     }
 
     #[task(spawn = [bar, baz])]
-    fn foo() {
+    fn foo(c: foo::Context) {
         hprintln!("foo").unwrap();
 
         // spawns `bar` onto the task scheduler
         // `foo` and `bar` have the same priority so `bar` will not run until
         // after `foo` terminates
-        spawn.bar().unwrap();
+        c.spawn.bar().unwrap();
 
         // spawns `baz` onto the task scheduler
         // `baz` has higher priority than `foo` so it immediately preempts `foo`
-        spawn.baz().unwrap();
+        c.spawn.baz().unwrap();
     }
 
     #[task]
-    fn bar() {
+    fn bar(_: bar::Context) {
         hprintln!("bar").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);
     }
 
     #[task(priority = 2)]
-    fn baz() {
+    fn baz(_: baz::Context) {
         hprintln!("baz").unwrap();
     }
 

examples/types.rs

@@ -8,45 +8,45 @@
 extern crate panic_semihosting;
 
 use cortex_m_semihosting::debug;
-use rtfm::{app, Exclusive, Instant};
+use rtfm::{Exclusive, Instant};
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static mut SHARED: u32 = 0;
 
     #[init(schedule = [foo], spawn = [foo])]
-    fn init() {
+    fn init(c: init::Context) {
-        let _: Instant = start;
+        let _: Instant = c.start;
-        let _: rtfm::Peripherals = core;
+        let _: rtfm::Peripherals = c.core;
-        let _: lm3s6965::Peripherals = device;
+        let _: lm3s6965::Peripherals = c.device;
-        let _: init::Schedule = schedule;
+        let _: init::Schedule = c.schedule;
-        let _: init::Spawn = spawn;
+        let _: init::Spawn = c.spawn;
 
         debug::exit(debug::EXIT_SUCCESS);
     }
 
     #[exception(schedule = [foo], spawn = [foo])]
-    fn SVCall() {
+    fn SVCall(c: SVCall::Context) {
-        let _: Instant = start;
+        let _: Instant = c.start;
-        let _: SVCall::Schedule = schedule;
+        let _: SVCall::Schedule = c.schedule;
-        let _: SVCall::Spawn = spawn;
+        let _: SVCall::Spawn = c.spawn;
     }
 
     #[interrupt(resources = [SHARED], schedule = [foo], spawn = [foo])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        let _: Instant = start;
+        let _: Instant = c.start;
-        let _: resources::SHARED = resources.SHARED;
+        let _: resources::SHARED = c.resources.SHARED;
-        let _: UART0::Schedule = schedule;
+        let _: UART0::Schedule = c.schedule;
-        let _: UART0::Spawn = spawn;
+        let _: UART0::Spawn = c.spawn;
     }
 
     #[task(priority = 2, resources = [SHARED], schedule = [foo], spawn = [foo])]
-    fn foo() {
+    fn foo(c: foo::Context) {
-        let _: Instant = scheduled;
+        let _: Instant = c.scheduled;
-        let _: Exclusive<u32> = resources.SHARED;
+        let _: Exclusive<u32> = c.resources.SHARED;
-        let _: foo::Resources = resources;
+        let _: foo::Resources = c.resources;
-        let _: foo::Schedule = schedule;
+        let _: foo::Schedule = c.schedule;
-        let _: foo::Spawn = spawn;
+        let _: foo::Spawn = c.spawn;
     }
 
     extern "C" {

macros/Cargo.toml

@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 name = "cortex-m-rtfm-macros"
 readme = "../README.md"
 repository = "https://github.com/japaric/cortex-m-rtfm"
-version = "0.4.3"
+version = "0.5.0-alpha.1"
 
 [lib]
 proc-macro = true
@@ -22,10 +22,6 @@ proc-macro2 = "0.4.24"
 features = ["extra-traits", "full"]
 version = "0.15.23"
 
-[dependencies.rand]
-default-features = false
-version = "0.5.5"
-
 [features]
 timer-queue = []
 nightly = []

macros/src/analyze.rs

@@ -190,19 +190,20 @@ pub fn app(app: &App) -> Analysis {
     }
 
     // Ceiling analysis of free queues (consumer end point) -- first pass
-    // Ceiling analysis of ready queues (producer end point)
+    // Ceiling analysis of ready queues (producer end point) -- first pass
     // Also compute more Send-ness requirements
-    let mut free_queues: HashMap<_, _> = app.tasks.keys().map(|task| (task.clone(), 0)).collect();
+    let mut free_queues = HashMap::new();
-    let mut ready_queues: HashMap<_, _> = dispatchers.keys().map(|level| (*level, 0)).collect();
+    let mut ready_queues = HashMap::new();
     for (priority, task) in app.spawn_calls() {
         if let Some(priority) = priority {
-            // Users of `spawn` contend for the to-be-spawned task FREE_QUEUE
+            // Users of `spawn` contend for the spawnee FREE_QUEUE
-            let c = free_queues.get_mut(task).expect("BUG: free_queue.get_mut");
+            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
-                .get_mut(&app.tasks[task].args.priority)
+                .entry(app.tasks[task].args.priority)
-                .expect("BUG: ready_queues.get_mut");
+                .or_default();
             *c = cmp::max(*c, priority);
 
             // Send is required when sending messages from a task whose priority doesn't match the
@@ -215,16 +216,23 @@ pub fn app(app: &App) -> 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 to-be-spawned task FREE_QUEUE (consumer end point)
+            // Users of `schedule` contend for the spawnee task FREE_QUEUE
-            let c = free_queues.get_mut(task).expect("BUG: free_queue.get_mut");
+            let c = free_queues.entry(task.clone()).or_default();
             *c = cmp::max(*c, priority);
 
-            // Users of `schedule` contend for the timer queu
+            // 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

macros/src/check.rs

@@ -35,22 +35,13 @@ pub fn app(app: &App) -> parse::Result<()> {
         }
     }
 
-    // Check that all late resources have been initialized in `#[init]` if `init` has signature
+    // Check that `init` returns `LateResources` if there's any declared late resource
-    // `fn()`
+    if !app.init.returns_late_resources && app.resources.iter().any(|(_, res)| res.expr.is_none()) {
-    if !app.init.returns_late_resources {
-        for res in
-            app.resources
-                .iter()
-                .filter_map(|(name, res)| if res.expr.is_none() { Some(name) } else { None })
-        {
-            if app.init.assigns.iter().all(|assign| assign.left != *res) {
         return Err(parse::Error::new(
-                    res.span(),
+            app.init.span,
-                    "late resources MUST be initialized at the end of `init`",
+            "late resources have been specified so `init` must return `init::LateResources`",
         ));
     }
-        }
-    }
 
     // Check that all referenced tasks have been declared
     for task in app
@@ -128,7 +119,7 @@ pub fn app(app: &App) -> parse::Result<()> {
     } else if app.init.returns_late_resources {
         return Err(parse::Error::new(
             Span::call_site(),
-            "`init` signature must be `[unsafe] fn()` if there are no late resources",
+            "`init` signature must be `fn(init::Context)` if there are no late resources",
         ));
     }
 

macros/src/lib.rs

@@ -288,9 +288,9 @@ mod syntax;
 pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     // Parse
     let args = parse_macro_input!(args as syntax::AppArgs);
-    let items = parse_macro_input!(input as syntax::Input).items;
+    let input = parse_macro_input!(input as syntax::Input);
 
-    let app = match syntax::App::parse(items, args) {
+    let app = match syntax::App::parse(input.items, args) {
         Err(e) => return e.to_compile_error().into(),
         Ok(app) => app,
     };
@@ -304,5 +304,5 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     let analysis = analyze::app(&app);
 
     // Code generation
-    codegen::app(&app, &analysis).into()
+    codegen::app(&input.ident, &app, &analysis).into()
 }

macros/src/syntax.rs

@@ -11,8 +11,8 @@ use syn::{
     spanned::Spanned,
     token::Brace,
     ArgCaptured, AttrStyle, Attribute, Expr, FnArg, ForeignItem, Ident, IntSuffix, Item, ItemFn,
-    ItemForeignMod, ItemStatic, LitInt, Path, PathArguments, PathSegment, ReturnType, Stmt, Token,
+    ItemForeignMod, ItemStatic, LitInt, Pat, Path, PathArguments, ReturnType, Stmt, Token, Type,
-    Type, TypeTuple, Visibility,
+    TypeTuple, Visibility,
 };
 
 pub struct AppArgs {
@@ -70,7 +70,7 @@ impl Parse for AppArgs {
 
 pub struct Input {
     _const_token: Token![const],
-    _ident: Ident,
+    pub ident: Ident,
     _colon_token: Token![:],
     _ty: TypeTuple,
     _eq_token: Token![=],
@@ -94,7 +94,7 @@ impl Parse for Input {
         let content;
         Ok(Input {
             _const_token: input.parse()?,
-            _ident: input.parse()?,
+            ident: input.parse()?,
             _colon_token: input.parse()?,
             _ty: input.parse()?,
             _eq_token: input.parse()?,
@@ -435,7 +435,7 @@ pub type FreeInterrupts = BTreeMap<Ident, FreeInterrupt>;
 pub struct Idle {
     pub args: IdleArgs,
     pub attrs: Vec<Attribute>,
-    pub unsafety: Option<Token![unsafe]>,
+    pub context: Pat,
     pub statics: BTreeMap<Ident, Static>,
     pub stmts: Vec<Stmt>,
 }
@@ -444,34 +444,29 @@ pub type IdleArgs = InitArgs;
 
 impl Idle {
     fn check(args: IdleArgs, item: ItemFn) -> parse::Result<Self> {
-        let valid_signature = item.vis == Visibility::Inherited
+        let valid_signature =
-            && item.constness.is_none()
+            check_signature(&item) && item.decl.inputs.len() == 1 && is_bottom(&item.decl.output);
-            && item.asyncness.is_none()
-            && item.abi.is_none()
-            && item.decl.generics.params.is_empty()
-            && item.decl.generics.where_clause.is_none()
-            && item.decl.inputs.is_empty()
-            && item.decl.variadic.is_none()
-            && is_bottom(&item.decl.output);
 
         let span = item.span();
 
-        if !valid_signature {
+        if valid_signature {
-            return Err(parse::Error::new(
+            if let Some((context, _)) = check_inputs(item.decl.inputs, "idle") {
-                span,
-                "`idle` must have type signature `[unsafe] fn() -> !`",
-            ));
-        }
-
                 let (statics, stmts) = extract_statics(item.block.stmts);
 
-        Ok(Idle {
+                return Ok(Idle {
                     args,
                     attrs: item.attrs,
-            unsafety: item.unsafety,
+                    context,
                     statics: Static::parse(statics)?,
                     stmts,
-        })
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            "`idle` must have type signature `fn(idle::Context) -> !`",
+        ))
     }
 }
 
@@ -596,34 +591,21 @@ impl Parse for InitArgs {
     }
 }
 
-// TODO remove in v0.5.x
-pub struct Assign {
-    pub attrs: Vec<Attribute>,
-    pub left: Ident,
-    pub right: Box<Expr>,
-}
-
 pub struct Init {
     pub args: InitArgs,
     pub attrs: Vec<Attribute>,
-    pub unsafety: Option<Token![unsafe]>,
     pub statics: BTreeMap<Ident, Static>,
+    pub context: Pat,
     pub stmts: Vec<Stmt>,
-    // TODO remove in v0.5.x
-    pub assigns: Vec<Assign>,
     pub returns_late_resources: bool,
+    pub span: Span,
 }
 
 impl Init {
     fn check(args: InitArgs, item: ItemFn) -> parse::Result<Self> {
-        let mut valid_signature = item.vis == Visibility::Inherited
+        let mut valid_signature = check_signature(&item) && item.decl.inputs.len() == 1;
-            && item.constness.is_none()
+
-            && item.asyncness.is_none()
+        const DONT_CARE: bool = false;
-            && item.abi.is_none()
-            && item.decl.generics.params.is_empty()
-            && item.decl.generics.where_clause.is_none()
-            && item.decl.inputs.is_empty()
-            && item.decl.variadic.is_none();
 
         let returns_late_resources = match &item.decl.output {
             ReturnType::Default => false,
@@ -636,36 +618,25 @@ impl Init {
                         } else {
                             valid_signature = false;
 
-                            false // don't care
+                            DONT_CARE
                         }
                     }
 
-                    Type::Path(p) => {
+                    Type::Path(_) => {
-                        let mut segments = p.path.segments.iter();
+                        if is_path(ty, &["init", "LateResources"]) {
-                        if p.qself.is_none()
-                            && p.path.leading_colon.is_none()
-                            && p.path.segments.len() == 2
-                            && segments.next().map(|s| {
-                                s.arguments == PathArguments::None && s.ident.to_string() == "init"
-                            }) == Some(true)
-                            && segments.next().map(|s| {
-                                s.arguments == PathArguments::None
-                                    && s.ident.to_string() == "LateResources"
-                            }) == Some(true)
-                        {
                             // -> init::LateResources
                             true
                         } else {
                             valid_signature = false;
 
-                            false // don't care
+                            DONT_CARE
                         }
                     }
 
                     _ => {
                         valid_signature = false;
 
-                        false // don't care
+                        DONT_CARE
                     }
                 }
             }
@@ -673,29 +644,26 @@ impl Init {
 
         let span = item.span();
 
-        if !valid_signature {
+        if valid_signature {
-            return Err(parse::Error::new(
+            if let Some((context, _)) = check_inputs(item.decl.inputs, "init") {
-                span,
-                "`init` must have type signature `[unsafe] fn() [-> init::LateResources]`",
-            ));
-        }
-
                 let (statics, stmts) = extract_statics(item.block.stmts);
-        let (stmts, assigns) = if returns_late_resources {
-            (stmts, vec![])
-        } else {
-            extract_assignments(stmts)
-        };
 
-        Ok(Init {
+                return Ok(Init {
                     args,
                     attrs: item.attrs,
-            unsafety: item.unsafety,
                     statics: Static::parse(statics)?,
+                    context,
                     stmts,
-            assigns,
                     returns_late_resources,
-        })
+                    span,
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            "`init` must have type signature `fn(init::Context) [-> init::LateResources]`",
+        ))
     }
 }
 
@@ -725,8 +693,8 @@ impl Default for Args {
 pub struct Exception {
     pub args: ExceptionArgs,
     pub attrs: Vec<Attribute>,
-    pub unsafety: Option<Token![unsafe]>,
     pub statics: BTreeMap<Ident, Static>,
+    pub context: Pat,
     pub stmts: Vec<Stmt>,
 }
 
@@ -770,25 +738,21 @@ impl Parse for ExceptionArgs {
 
 impl Exception {
     fn check(args: ExceptionArgs, item: ItemFn) -> parse::Result<Self> {
-        let valid_signature = item.vis == Visibility::Inherited
+        let valid_signature =
-            && item.constness.is_none()
+            check_signature(&item) && item.decl.inputs.len() == 1 && is_unit(&item.decl.output);
-            && item.asyncness.is_none()
-            && item.abi.is_none()
-            && item.decl.generics.params.is_empty()
-            && item.decl.generics.where_clause.is_none()
-            && item.decl.inputs.is_empty()
-            && item.decl.variadic.is_none()
-            && is_unit(&item.decl.output);
 
-        if !valid_signature {
+        let span = item.span();
-            return Err(parse::Error::new(
-                item.span(),
-                "`exception` handlers must have type signature `[unsafe] fn()`",
-            ));
-        }
 
+        let name = item.ident.to_string();
+        if valid_signature {
+            if let Some((context, _)) = check_inputs(item.decl.inputs, &name) {
                 let span = item.ident.span();
-        match &*args.binds.as_ref().unwrap_or(&item.ident).to_string() {
+                match &*args
+                    .binds
+                    .as_ref()
+                    .map(|ident| ident.to_string())
+                    .unwrap_or(name)
+                {
                     "MemoryManagement" | "BusFault" | "UsageFault" | "SecureFault" | "SVCall"
                     | "DebugMonitor" | "PendSV" => {} // OK
                     "SysTick" => {
@@ -810,21 +774,31 @@ impl Exception {
 
                 let (statics, stmts) = extract_statics(item.block.stmts);
 
-        Ok(Exception {
+                return Ok(Exception {
                     args,
                     attrs: item.attrs,
-            unsafety: item.unsafety,
                     statics: Static::parse(statics)?,
+                    context,
                     stmts,
-        })
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this `exception` handler must have type signature `fn({}::Context)`",
+                name
+            ),
+        ))
     }
 }
 
 pub struct Interrupt {
     pub args: InterruptArgs,
     pub attrs: Vec<Attribute>,
-    pub unsafety: Option<Token![unsafe]>,
     pub statics: BTreeMap<Ident, Static>,
+    pub context: Pat,
     pub stmts: Vec<Stmt>,
 }
 
@@ -832,26 +806,15 @@ pub type InterruptArgs = ExceptionArgs;
 
 impl Interrupt {
     fn check(args: InterruptArgs, item: ItemFn) -> parse::Result<Self> {
-        let valid_signature = item.vis == Visibility::Inherited
+        let valid_signature =
-            && item.constness.is_none()
+            check_signature(&item) && item.decl.inputs.len() == 1 && is_unit(&item.decl.output);
-            && item.asyncness.is_none()
-            && item.abi.is_none()
-            && item.decl.generics.params.is_empty()
-            && item.decl.generics.where_clause.is_none()
-            && item.decl.inputs.is_empty()
-            && item.decl.variadic.is_none()
-            && is_unit(&item.decl.output);
 
         let span = item.span();
 
-        if !valid_signature {
+        let name = item.ident.to_string();
-            return Err(parse::Error::new(
+        if valid_signature {
-                span,
+            if let Some((context, _)) = check_inputs(item.decl.inputs, &name) {
-                "`interrupt` handlers must have type signature `[unsafe] fn()`",
+                match &*name {
-            ));
-        }
-
-        match &*item.ident.to_string() {
                     "init" | "idle" | "resources" => {
                         return Err(parse::Error::new(
                             span,
@@ -863,18 +826,27 @@ impl Interrupt {
 
                 let (statics, stmts) = extract_statics(item.block.stmts);
 
-        Ok(Interrupt {
+                return Ok(Interrupt {
                     args,
                     attrs: item.attrs,
-            unsafety: item.unsafety,
                     statics: Static::parse(statics)?,
+                    context,
                     stmts,
-        })
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            format!(
+                "this `interrupt` handler must have type signature `fn({}::Context)`",
+                name
+            ),
+        ))
     }
 }
 
 pub struct Resource {
-    pub singleton: bool,
     pub cfgs: Vec<Attribute>,
     pub attrs: Vec<Attribute>,
     pub mutability: Option<Token![mut]>,
@@ -883,7 +855,7 @@ pub struct Resource {
 }
 
 impl Resource {
-    fn check(mut item: ItemStatic) -> parse::Result<Resource> {
+    fn check(item: ItemStatic) -> parse::Result<Resource> {
         if item.vis != Visibility::Inherited {
             return Err(parse::Error::new(
                 item.span(),
@@ -896,19 +868,9 @@ impl Resource {
             _ => false,
         };
 
-        let pos = item.attrs.iter().position(|attr| eq(attr, "Singleton"));
-
-        if let Some(pos) = pos {
-            item.attrs[pos].path.segments.insert(
-                0,
-                PathSegment::from(Ident::new("owned_singleton", Span::call_site())),
-            );
-        }
-
         let (cfgs, attrs) = extract_cfgs(item.attrs);
 
         Ok(Resource {
-            singleton: pos.is_some(),
             cfgs,
             attrs,
             mutability: item.mutability,
@@ -1177,47 +1139,32 @@ pub struct Task {
     pub args: TaskArgs,
     pub cfgs: Vec<Attribute>,
     pub attrs: Vec<Attribute>,
-    pub unsafety: Option<Token![unsafe]>,
     pub inputs: Vec<ArgCaptured>,
+    pub context: Pat,
     pub statics: BTreeMap<Ident, Static>,
     pub stmts: Vec<Stmt>,
 }
 
 impl Task {
     fn check(args: TaskArgs, item: ItemFn) -> parse::Result<Self> {
-        let valid_signature = item.vis == Visibility::Inherited
+        let valid_signature =
-            && item.constness.is_none()
+            check_signature(&item) && !item.decl.inputs.is_empty() && is_unit(&item.decl.output);
-            && item.asyncness.is_none()
-            && item.abi.is_none()
-            && item.decl.generics.params.is_empty()
-            && item.decl.generics.where_clause.is_none()
-            && item.decl.variadic.is_none()
-            && is_unit(&item.decl.output);
 
         let span = item.span();
 
-        if !valid_signature {
+        let name = item.ident.to_string();
-            return Err(parse::Error::new(
+        if valid_signature {
-                span,
+            if let Some((context, rest)) = check_inputs(item.decl.inputs, &name) {
-                "`task` handlers must have type signature `[unsafe] fn(..)`",
-            ));
-        }
-
                 let (statics, stmts) = extract_statics(item.block.stmts);
 
-        let mut inputs = vec![];
+                let inputs = rest.map_err(|arg| {
-        for input in item.decl.inputs {
+                    parse::Error::new(
-            if let FnArg::Captured(capture) = input {
+                        arg.span(),
-                inputs.push(capture);
-            } else {
-                return Err(parse::Error::new(
-                    span,
                         "inputs must be named arguments (e.f. `foo: u32`) and not include `self`",
-                ));
+                    )
-            }
+                })?;
-        }
 
-        match &*item.ident.to_string() {
+                match &*name {
                     "init" | "idle" | "resources" => {
                         return Err(parse::Error::new(
                             span,
@@ -1228,15 +1175,25 @@ impl Task {
                 }
 
                 let (cfgs, attrs) = extract_cfgs(item.attrs);
-        Ok(Task {
+                return Ok(Task {
                     args,
                     cfgs,
                     attrs,
-            unsafety: item.unsafety,
                     inputs,
+                    context,
                     statics: Static::parse(statics)?,
                     stmts,
-        })
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this `task` handler must have type signature `fn({}::Context, ..)`",
+                name
+            ),
+        ))
     }
 }
 
@@ -1335,38 +1292,69 @@ fn extract_statics(stmts: Vec<Stmt>) -> (Statics, Vec<Stmt>) {
     (statics, stmts)
 }
 
-// TODO remove in v0.5.x
+// checks that the list of arguments has the form `#pat: #name::Context, (..)`
-fn extract_assignments(stmts: Vec<Stmt>) -> (Vec<Stmt>, Vec<Assign>) {
+//
-    let mut istmts = stmts.into_iter().rev();
+// if the check succeeds it returns `#pat` plus the remaining arguments
+fn check_inputs(
+    inputs: Punctuated<FnArg, Token![,]>,
+    name: &str,
+) -> Option<(Pat, Result<Vec<ArgCaptured>, FnArg>)> {
+    let mut inputs = inputs.into_iter();
 
-    let mut assigns = vec![];
+    match inputs.next() {
-    let mut stmts = vec![];
+        Some(FnArg::Captured(first)) => {
-    while let Some(stmt) = istmts.next() {
+            if is_path(&first.ty, &[name, "Context"]) {
-        match stmt {
+                let rest = inputs
-            Stmt::Semi(Expr::Assign(assign), semi) => {
+                    .map(|arg| match arg {
-                if let Expr::Path(ref expr) = *assign.left {
+                        FnArg::Captured(arg) => Ok(arg),
-                    if expr.path.segments.len() == 1 {
+                        _ => Err(arg),
-                        assigns.push(Assign {
+                    })
-                            attrs: assign.attrs,
+                    .collect::<Result<Vec<_>, _>>();
-                            left: expr.path.segments[0].ident.clone(),
+
-                            right: assign.right,
+                Some((first.pat, rest))
-                        });
+            } else {
-                        continue;
+                None
             }
         }
 
-                stmts.push(Stmt::Semi(Expr::Assign(assign), semi));
+        _ => None,
-            }
-            _ => {
-                stmts.push(stmt);
-                break;
-            }
     }
+}
+
+/// checks that a function signature
+///
+/// - has no bounds (like where clauses)
+/// - is not `async`
+/// - is not `const`
+/// - is not `unsafe`
+/// - is not generic (has no type parametrs)
+/// - is not variadic
+/// - uses the Rust ABI (and not e.g. "C")
+fn check_signature(item: &ItemFn) -> bool {
+    item.vis == Visibility::Inherited
+        && item.constness.is_none()
+        && item.asyncness.is_none()
+        && item.abi.is_none()
+        && item.unsafety.is_none()
+        && item.decl.generics.params.is_empty()
+        && item.decl.generics.where_clause.is_none()
+        && item.decl.variadic.is_none()
+}
+
+fn is_path(ty: &Type, segments: &[&str]) -> bool {
+    match ty {
+        Type::Path(tpath) if tpath.qself.is_none() => {
+            tpath.path.segments.len() == segments.len()
+                && tpath
+                    .path
+                    .segments
+                    .iter()
+                    .zip(segments)
+                    .all(|(lhs, rhs)| lhs.ident == **rhs)
         }
 
-    stmts.extend(istmts);
+        _ => false,
-
+    }
-    (stmts.into_iter().rev().collect(), assigns)
 }
 
 fn is_bottom(ty: &ReturnType) -> bool {

src/export.rs

@@ -1,7 +1,5 @@
 //! IMPLEMENTATION DETAILS. DO NOT USE ANYTHING IN THIS MODULE
 
-#[cfg(not(feature = "nightly"))]
-use core::ptr;
 use core::{cell::Cell, u8};
 
 #[cfg(armv7m)]
@@ -14,25 +12,31 @@ pub use heapless::consts;
 use heapless::spsc::{Queue, SingleCore};
 
 #[cfg(feature = "timer-queue")]
-pub use crate::tq::{isr as sys_tick, NotReady, TimerQueue};
+pub use crate::tq::{NotReady, TimerQueue};
 
-pub type FreeQueue<N> = Queue<u8, N, usize, SingleCore>;
+pub type FreeQueue<N> = Queue<u8, N, u8, SingleCore>;
-pub type ReadyQueue<T, N> = Queue<(T, u8), N, usize, SingleCore>;
+pub type ReadyQueue<T, N> = Queue<(T, u8), N, u8, SingleCore>;
 
 #[cfg(armv7m)]
 #[inline(always)]
-pub fn run<F>(f: F)
+pub fn run<F>(priority: u8, f: F)
 where
     F: FnOnce(),
 {
+    if priority == 1 {
+        // if the priority of this interrupt is `1` then BASEPRI can only be `0`
+        f();
+        unsafe { basepri::write(0) }
+    } else {
         let initial = basepri::read();
         f();
         unsafe { basepri::write(initial) }
+    }
 }
 
 #[cfg(not(armv7m))]
 #[inline(always)]
-pub fn run<F>(f: F)
+pub fn run<F>(_priority: u8, f: F)
 where
     F: FnOnce(),
 {
@@ -52,7 +56,7 @@ impl Priority {
         }
     }
 
-    // these two methods are used by claim (see below) but can't be used from the RTFM application
+    // these two methods are used by `lock` (see below) but can't be used from the RTFM application
     #[inline(always)]
     fn set(&self, value: u8) {
         self.inner.set(value)
@@ -64,13 +68,12 @@ impl Priority {
     }
 }
 
-#[cfg(feature = "nightly")]
+// We newtype `core::mem::MaybeUninit` so the end-user doesn't need `#![feature(maybe_uninit)]` in
+// their code
 pub struct MaybeUninit<T> {
-    // we newtype so the end-user doesn't need `#![feature(maybe_uninit)]` in their code
     inner: core::mem::MaybeUninit<T>,
 }
 
-#[cfg(feature = "nightly")]
 impl<T> MaybeUninit<T> {
     pub const fn uninit() -> Self {
         MaybeUninit {
@@ -86,64 +89,15 @@ impl<T> MaybeUninit<T> {
         self.inner.as_mut_ptr()
     }
 
+    pub unsafe fn read(&self) -> T {
+        self.inner.read()
+    }
+
     pub fn write(&mut self, value: T) -> &mut T {
         self.inner.write(value)
     }
 }
 
-#[cfg(not(feature = "nightly"))]
-pub struct MaybeUninit<T> {
-    value: Option<T>,
-}
-
-#[cfg(not(feature = "nightly"))]
-const MSG: &str =
-    "you have hit a bug (UB) in RTFM implementation; try enabling this crate 'nightly' feature";
-
-#[cfg(not(feature = "nightly"))]
-impl<T> MaybeUninit<T> {
-    pub const fn uninit() -> Self {
-        MaybeUninit { value: None }
-    }
-
-    pub fn as_ptr(&self) -> *const T {
-        if let Some(x) = self.value.as_ref() {
-            x
-        } else {
-            unreachable!(MSG)
-        }
-    }
-
-    pub fn as_mut_ptr(&mut self) -> *mut T {
-        if let Some(x) = self.value.as_mut() {
-            x
-        } else {
-            unreachable!(MSG)
-        }
-    }
-
-    pub unsafe fn get_ref(&self) -> &T {
-        if let Some(x) = self.value.as_ref() {
-            x
-        } else {
-            unreachable!(MSG)
-        }
-    }
-
-    pub unsafe fn get_mut(&mut self) -> &mut T {
-        if let Some(x) = self.value.as_mut() {
-            x
-        } else {
-            unreachable!(MSG)
-        }
-    }
-
-    pub fn write(&mut self, val: T) {
-        // NOTE(volatile) we have observed UB when this uses a plain `ptr::write`
-        unsafe { ptr::write_volatile(&mut self.value, Some(val)) }
-    }
-}
-
 #[inline(always)]
 pub fn assert_send<T>()
 where
@@ -160,19 +114,16 @@ where
 
 #[cfg(armv7m)]
 #[inline(always)]
-pub unsafe fn claim<T, R, F>(
+pub unsafe fn lock<T, R>(
     ptr: *mut T,
     priority: &Priority,
     ceiling: u8,
     nvic_prio_bits: u8,
-    f: F,
+    f: impl FnOnce(&mut T) -> R,
-) -> R
+) -> R {
-where
-    F: FnOnce(&mut T) -> R,
-{
     let current = priority.get();
 
-    if priority.get() < ceiling {
+    if current < ceiling {
         if ceiling == (1 << nvic_prio_bits) {
             priority.set(u8::MAX);
             let r = interrupt::free(|_| f(&mut *ptr));
@@ -193,19 +144,16 @@ where
 
 #[cfg(not(armv7m))]
 #[inline(always)]
-pub unsafe fn claim<T, R, F>(
+pub unsafe fn lock<T, R>(
     ptr: *mut T,
     priority: &Priority,
     ceiling: u8,
     _nvic_prio_bits: u8,
-    f: F,
+    f: impl FnOnce(&mut T) -> R,
-) -> R
+) -> R {
-where
-    F: FnOnce(&mut T) -> R,
-{
     let current = priority.get();
 
-    if priority.get() < ceiling {
+    if current < ceiling {
         priority.set(u8::MAX);
         let r = interrupt::free(|_| f(&mut *ptr));
         priority.set(current);
@@ -215,8 +163,7 @@ where
     }
 }
 
-#[cfg(armv7m)]
 #[inline]
-fn logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
+pub fn logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
     ((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
 }

src/lib.rs

@@ -1,5 +1,8 @@
 //! Real Time For the Masses (RTFM) framework for ARM Cortex-M microcontrollers
 //!
+//! **HEADS UP** This is an **alpha** pre-release; there may be breaking changes in the API and
+//! semantics before a proper release is made.
+//!
 //! **IMPORTANT**: This crate is published as [`cortex-m-rtfm`] on crates.io but the name of the
 //! library is `rtfm`.
 //!
@@ -7,7 +10,7 @@
 //!
 //! The user level documentation can be found [here].
 //!
-//! [here]: https://japaric.github.io/cortex-m-rtfm/book/en/
+//! [here]: https://japaric.github.io/rtfm5/book/en/
 //!
 //! Don't forget to check the documentation of the [`#[app]`] attribute, which is the main component
 //! of the framework.
@@ -16,7 +19,7 @@
 //!
 //! # Minimum Supported Rust Version (MSRV)
 //!
-//! This crate is guaranteed to compile on stable Rust 1.31 (2018 edition) and up. It *might*
+//! This crate is guaranteed to compile on stable Rust 1.36 (2018 edition) and up. It *might*
 //! compile on older versions but that may change in any new patch release.
 //!
 //! # Semantic Versioning
@@ -36,12 +39,11 @@
 //! [`Instant`]: struct.Instant.html
 //! [`Duration`]: struct.Duration.html
 //!
-//! - `nightly`. Enabling this opt-in feature makes RTFM internally use the unstable
+//! - `nightly`. Enabling this opt-in feature makes RTFM internally use the unstable `const_fn`
-//! `core::mem::MaybeUninit` API and unstable `const_fn` language feature to reduce static memory
+//! language feature to reduce static memory usage, runtime overhead and initialization overhead.
-//! usage, runtime overhead and initialization overhead. This feature requires a nightly compiler
+//! This feature requires a nightly compiler and may stop working at any time!
-//! and may stop working at any time!
 
-#![cfg_attr(feature = "nightly", feature(maybe_uninit))]
+#![feature(maybe_uninit)]
 #![deny(missing_docs)]
 #![deny(warnings)]
 #![no_std]
@@ -132,7 +134,7 @@ pub struct Instant(i32);
 impl Instant {
     /// IMPLEMENTATION DETAIL. DO NOT USE
     #[doc(hidden)]
-    pub fn artificial(timestamp: i32) -> Self {
+    pub unsafe fn artificial(timestamp: i32) -> Self {
         Instant(timestamp)
     }
 
@@ -290,9 +292,7 @@ pub trait Mutex {
     type T;
 
     /// Creates a critical section and grants temporary access to the protected data
-    fn lock<R, F>(&mut self, f: F) -> R
+    fn lock<R>(&mut self, f: impl FnOnce(&mut Self::T) -> R) -> R;
-    where
-        F: FnOnce(&mut Self::T) -> R;
 }
 
 impl<'a, M> Mutex for &'a mut M
@@ -301,10 +301,7 @@ where
 {
     type T = M::T;
 
-    fn lock<R, F>(&mut self, f: F) -> R
+    fn lock<R>(&mut self, f: impl FnOnce(&mut M::T) -> R) -> R {
-    where
-        F: FnOnce(&mut Self::T) -> R,
-    {
         (**self).lock(f)
     }
 }
@@ -317,10 +314,7 @@ pub struct Exclusive<'a, T>(pub &'a mut T);
 impl<'a, T> Mutex for Exclusive<'a, T> {
     type T = T;
 
-    fn lock<R, F>(&mut self, f: F) -> R
+    fn lock<R>(&mut self, f: impl FnOnce(&mut T) -> R) -> R {
-    where
-        F: FnOnce(&mut Self::T) -> R,
-    {
         f(self.0)
     }
 }

src/tq.rs

@@ -3,7 +3,7 @@ use core::cmp::{self, Ordering};
 use cortex_m::peripheral::{SCB, SYST};
 use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
 
-use crate::{Instant, Mutex};
+use crate::Instant;
 
 pub struct TimerQueue<T, N>
 where
@@ -43,11 +43,39 @@ where
             }
 
             // set SysTick pending
-            (*SCB::ptr()).icsr.write(1 << 26);
+            SCB::set_pendst();
         }
 
         self.queue.push_unchecked(nr);
     }
+
+    #[inline]
+    pub fn dequeue(&mut self) -> Option<(T, u8)> {
+        if let Some(instant) = self.queue.peek().map(|p| p.instant) {
+            let diff = instant.0.wrapping_sub(Instant::now().0);
+
+            if diff < 0 {
+                // task became ready
+                let nr = unsafe { self.queue.pop_unchecked() };
+
+                Some((nr.task, nr.index))
+            } else {
+                // set a new timeout
+                const MAX: u32 = 0x00ffffff;
+
+                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>
@@ -87,49 +115,3 @@ where
         Some(self.cmp(&other))
     }
 }
-
-#[inline(always)]
-pub fn isr<TQ, T, N, F>(mut tq: TQ, mut f: F)
-where
-    TQ: Mutex<T = TimerQueue<T, N>>,
-    T: Copy + Send,
-    N: ArrayLength<NotReady<T>>,
-    F: FnMut(T, u8),
-{
-    loop {
-        // XXX does `#[inline(always)]` improve performance or not?
-        let next = tq.lock(#[inline(always)]
-        |tq| {
-            if let Some(instant) = tq.queue.peek().map(|p| p.instant) {
-                let diff = instant.0.wrapping_sub(Instant::now().0);
-
-                if diff < 0 {
-                    // task became ready
-                    let m = unsafe { tq.queue.pop_unchecked() };
-
-                    Some((m.task, m.index))
-                } else {
-                    // set a new timeout
-                    const MAX: u32 = 0x00ffffff;
-
-                    tq.syst.set_reload(cmp::min(MAX, diff as u32));
-
-                    // start counting down from the new reload
-                    tq.syst.clear_current();
-
-                    None
-                }
-            } else {
-                // the queue is empty
-                tq.syst.disable_interrupt();
-                None
-            }
-        });
-
-        if let Some((task, index)) = next {
-            f(task, index)
-        } else {
-            return;
-        }
-    }
-}

tests/cfail/cfg-resources.rs

@@ -30,35 +30,35 @@ const APP: () = {
     static S3: u32 = 0;
 
     #[init(resources = [O1, O4, O5, O6, S3])]
-    fn init() {
+    fn init(c: init::Context) {
-        resources.O1; //~ ERROR no field `O1`
+        c.resources.O1; //~ ERROR no field `O1`
-        resources.O4; //~ ERROR no field `O4`
+        c.resources.O4; //~ ERROR no field `O4`
-        resources.O5; //~ ERROR no field `O5`
+        c.resources.O5; //~ ERROR no field `O5`
-        resources.O6; //~ ERROR no field `O6`
+        c.resources.O6; //~ ERROR no field `O6`
-        resources.S3; //~ ERROR no field `S3`
+        c.resources.S3; //~ ERROR no field `S3`
     }
 
     #[idle(resources = [O2, O4, S1, S3])]
-    fn idle() -> ! {
+    fn idle(c: idle::Context) -> ! {
-        resources.O2; //~ ERROR no field `O2`
+        c.resources.O2; //~ ERROR no field `O2`
-        resources.O4; //~ ERROR no field `O4`
+        c.resources.O4; //~ ERROR no field `O4`
-        resources.S1; //~ ERROR no field `S1`
+        c.resources.S1; //~ ERROR no field `S1`
-        resources.S3; //~ ERROR no field `S3`
+        c.resources.S3; //~ ERROR no field `S3`
 
         loop {}
     }
 
     #[interrupt(resources = [O3, S1, S2, S3])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        resources.O3; //~ ERROR no field `O3`
+        c.resources.O3; //~ ERROR no field `O3`
-        resources.S1; //~ ERROR no field `S1`
+        c.resources.S1; //~ ERROR no field `S1`
-        resources.S2; //~ ERROR no field `S2`
+        c.resources.S2; //~ ERROR no field `S2`
-        resources.S3; //~ ERROR no field `S3`
+        c.resources.S3; //~ ERROR no field `S3`
     }
 
     #[interrupt(resources = [S2, O5])]
-    fn UART1() {
+    fn UART1(c: UART1::Context) {
-        resources.S2; //~ ERROR no field `S2`
+        c.resources.S2; //~ ERROR no field `S2`
-        resources.O5; //~ ERROR no field `O5`
+        c.resources.O5; //~ ERROR no field `O5`
     }
 };

tests/cfail/cfg-static.rs

@@ -10,7 +10,7 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 
@@ -18,7 +18,7 @@ const APP: () = {
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 
@@ -28,7 +28,7 @@ const APP: () = {
     }
 
     #[exception]
-    fn SVCall() {
+    fn SVCall(_: SVCall::Context) {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 
@@ -36,7 +36,7 @@ const APP: () = {
     }
 
     #[interrupt]
-    fn UART0() {
+    fn UART0(_: UART0::Context) {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 
@@ -44,7 +44,7 @@ const APP: () = {
     }
 
     #[task]
-    fn foo() {
+    fn foo(_: foo::Context) {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 

tests/cfail/duplicate-args-2.rs

@@ -10,13 +10,13 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task(
         priority = 1,
         priority = 2, //~ ERROR argument appears more than once
     )]
-    fn foo() {}
+    fn foo(_: foo::Context) {}
 
     extern "C" {
         fn UART0();

tests/cfail/duplicate-args.rs

@@ -10,13 +10,13 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task(
         capacity = 1,
         capacity = 2, //~ ERROR argument appears more than once
     )]
-    fn foo() {}
+    fn foo(_: foo::Context) {}
 
     extern "C" {
         fn UART0();

tests/cfail/early-return-2.rs

@@ -1,29 +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 UNINITIALIZED: bool = ();
-
-    #[init]
-    fn init() {
-        if false {
-            return; //~ ERROR `init` is *not* allowed to early return
-        }
-
-        UNINITIALIZED = true;
-    }
-
-    #[interrupt(resources = [UNINITIALIZED])]
-    fn UART0() {
-        if resources.UNINITIALIZED {
-            // UB
-        }
-    }
-};

tests/cfail/early-return.rs

@@ -1,32 +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 UNINITIALIZED: bool = ();
-
-    #[init]
-    fn init() {
-        let x = || {
-            // this is OK
-            return 0;
-        };
-
-        return; //~ ERROR `init` is *not* allowed to early return
-
-        UNINITIALIZED = true;
-    }
-
-    #[interrupt(resources = [UNINITIALIZED])]
-    fn UART0() {
-        if resources.UNINITIALIZED {
-            // UB
-        }
-    }
-};

tests/cfail/exception-divergent.rs

@@ -10,11 +10,11 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception]
-    fn SVCall() -> ! {
+    fn SVCall(_: SVCall::Context) -> ! {
-        //~^ ERROR `exception` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
         loop {}
     }
 };

tests/cfail/exception-input.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception]
-    fn SVCall(undef: u32) {
+    fn SVCall(_: SVCall::Context, undef: u32) {
-        //~^ ERROR `exception` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
     }
 };

tests/cfail/exception-invalid.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception]
-    fn NonMaskableInt() {
+    fn NonMaskableInt(_: NonMaskableInt::Context) {
         //~^ ERROR only exceptions with configurable priority can be used as hardware tasks
     }
 };

tests/cfail/exception-output.rs

@@ -10,11 +10,11 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception]
-    fn SVCall() -> u32 {
+    fn SVCall(_: SVCall::Context) -> u32 {
-        //~^ ERROR `exception` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `exception` handler must have type signature `fn(SVCall::Context)`
         0
     }
 };

tests/cfail/exception-sys-tick.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception]
-    fn SysTick() {
+    fn SysTick(_: SysTick::Context) {
         //~^ ERROR the `SysTick` exception can't be used because it's used by the runtime
     }
 };

tests/cfail/idle-input.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[idle]
-    fn idle(undef: u32) {
+    fn idle(_: idle::Context, undef: u32) {
-        //~^ ERROR `idle` must have type signature `[unsafe] fn() -> !`
+        //~^ ERROR `idle` must have type signature `fn(idle::Context) -> !`
     }
 };

tests/cfail/idle-not-divergent.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[idle]
-    fn idle() {
+    fn idle(_: idle::Context) {
-        //~^ ERROR `idle` must have type signature `[unsafe] fn() -> !`
+        //~^ ERROR `idle` must have type signature `fn(idle::Context) -> !`
     }
 };

tests/cfail/init-divergent.rs

@@ -10,8 +10,8 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() -> ! {
+    fn init(_: init::Context) -> ! {
-        //~^ ERROR `init` must have type signature `[unsafe] fn() [-> init::LateResources]`
+        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
         loop {}
     }
 };

tests/cfail/init-input.rs

@@ -10,7 +10,7 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(undef: u32) {
+    fn init(_: init::Context, undef: u32) {
-        //~^ ERROR `init` must have type signature `[unsafe] fn() [-> init::LateResources]`
+        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
     }
 };

tests/cfail/init-not-send.rs

@@ -1,6 +1,5 @@
 //! This is equivalent to the `late-not-send` cfail test
 
-#![feature(extern_crate_item_prelude)] // ???
 #![no_main]
 #![no_std]
 
@@ -21,10 +20,10 @@ const APP: () = {
     static mut X: Option<NotSend> = None;
 
     #[init(resources = [X])]
-    fn init() {
+    fn init(c: init::Context) {
-        *resources.X = Some(NotSend { _0: PhantomData })
+        *c.resources.X = Some(NotSend { _0: PhantomData })
     }
 
     #[interrupt(resources = [X])]
-    fn UART0() {}
+    fn UART0(_: UART0::Context) {}
 };

tests/cfail/init-output.rs

@@ -10,8 +10,8 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() -> u32 {
+    fn init(_: init::Context) -> u32 {
-        //~^ ERROR `init` must have type signature `[unsafe] fn() [-> init::LateResources]`
+        //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
         0
     }
 };

tests/cfail/insufficient-free-interrupts.rs

@@ -10,8 +10,8 @@ use rtfm::app;
 #[app(device = lm3s6965)] //~ ERROR 1 free interrupt (`extern { .. }`) is required
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task]
-    fn foo() {}
+    fn foo(_: foo::Context) {}
 };

tests/cfail/interrupt-divergent.rs

@@ -10,11 +10,11 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[interrupt]
-    fn UART0() -> ! {
+    fn UART0(_: UART0::Context) -> ! {
-        //~^ ERROR `interrupt` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
         loop {}
     }
 };

tests/cfail/interrupt-input.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[interrupt]
-    fn UART0(undef: u32) {
+    fn UART0(_: UART0::Context, undef: u32) {
-        //~^ ERROR `interrupt` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
     }
 };

tests/cfail/interrupt-output.rs

@@ -10,11 +10,11 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[interrupt]
-    fn UART0() -> u32 {
+    fn UART0(_: UART0::Context) -> u32 {
-        //~^ ERROR `interrupt` handlers must have type signature `[unsafe] fn()`
+        //~^ ERROR this `interrupt` handler must have type signature `fn(UART0::Context)`
         0
     }
 };

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

@@ -12,5 +12,5 @@ const APP: () = {
     static mut X: u32 = ();
 
     #[init(resources = [X])] //~ ERROR late resources can NOT be assigned to `init`
-    fn init() {}
+    fn init(_: init::Context) {}
 };

tests/cfail/late-not-send.rs

@@ -1,7 +1,6 @@
 //! `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
 
-#![feature(extern_crate_item_prelude)] // ???
 #![no_main]
 #![no_std]
 
@@ -22,12 +21,12 @@ const APP: () = {
     static mut X: NotSend = ();
 
     #[init]
-    fn init() -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
         init::LateResources {
             X: NotSend { _0: PhantomData },
         }
     }
 
     #[interrupt(resources = [X])]
-    fn UART0() {}
+    fn UART0(_: UART0::Context) {}
 };

tests/cfail/needs-send.rs

@@ -1,4 +1,3 @@
-#![feature(extern_crate_item_prelude)] // ???
 #![no_main]
 #![no_std]
 
@@ -19,10 +18,10 @@ unsafe impl Sync for NotSend {}
 #[app(device = lm3s6965)] //~ ERROR cannot be sent between threads safely
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task]
-    fn foo(_x: NotSend) {}
+    fn foo(_: foo::Context, _x: NotSend) {}
 
     extern "C" {
         fn UART0();

tests/cfail/needs-sync.rs

@@ -1,4 +1,3 @@
-#![feature(extern_crate_item_prelude)] // ???
 #![no_main]
 #![no_std]
 
@@ -21,13 +20,13 @@ const APP: () = {
     static X: NotSync = NotSync { _0: PhantomData };
 
     #[init(spawn = [foo])]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task(priority = 1, resources = [X])]
-    fn foo() {}
+    fn foo(_: foo::Context) {}
 
     #[task(priority = 2, resources = [X])]
-    fn bar() {}
+    fn bar(_: bar::Context) {}
 
     extern "C" {
         fn UART0();

tests/cfail/priority-too-high.rs

@@ -10,13 +10,13 @@ use rtfm::app;
 #[app(device = lm3s6965)] //~ error evaluation of constant value failed
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     // OK, this is the maximum priority supported by the device
     #[interrupt(priority = 8)]
-    fn UART0() {}
+    fn UART0(_: UART0::Context) {}
 
     // this value is too high!
     #[interrupt(priority = 9)]
-    fn UART1() {}
+    fn UART1(_: UART1::Context) {}
 };

tests/cfail/priority-too-low.rs

@@ -10,13 +10,13 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     // OK, this is the minimum priority that tasks can have
     #[interrupt(priority = 1)]
-    fn UART0() {}
+    fn UART0(_: UART0::Context) {}
 
     // this value is too low!
     #[interrupt(priority = 0)] //~ error this literal must be in the range 1...255
-    fn UART1() {}
+    fn UART1(_: UART1::Context) {}
 };

tests/cfail/resource-not-declared.rs

@@ -10,5 +10,5 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init(resources = [X])] //~ ERROR this resource has NOT been declared
-    fn init() {}
+    fn init(_: init::Context) {}
 };

tests/cfail/resource-pub.rs

@@ -13,5 +13,5 @@ const APP: () = {
     //~^ ERROR resources must have inherited / private visibility
 
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 };

tests/cfail/task-divergent.rs

@@ -5,16 +5,14 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task]
-    fn foo() -> ! {
+    fn foo(_: foo::Context) -> ! {
-        //~^ ERROR `task` handlers must have type signature `[unsafe] fn(..)`
+        //~^ ERROR this `task` handler must have type signature `fn(foo::Context, ..)`
         loop {}
     }
 

tests/cfail/task-idle.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[task]
-    fn idle() {
+    fn idle(_: idle::Context) {
         //~^ ERROR `task` handlers can NOT be named `idle`, `init` or `resources`
     }
 

tests/cfail/task-not-declared.rs

@@ -10,5 +10,5 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [X])] //~ ERROR this task has NOT been declared
-    fn init() {}
+    fn init(_: init::Context) {}
 };

tests/cfail/unsafe-exception.rs

@@ -0,0 +1,18 @@
+#![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(binds = SVCall)]
+    unsafe fn foo(_: foo::Context) {}
+    //~^ ERROR this `exception` handler must have type signature `fn(foo::Context)`
+};

tests/cfail/unsafe-idle.rs

@@ -0,0 +1,20 @@
+#![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]
+    unsafe fn idle(_: idle::Context) -> ! {
+        //~^ ERROR `idle` must have type signature `fn(idle::Context) -> !`
+        loop {}
+    }
+};

tests/cfail/unsafe-init.rs

@@ -1,5 +1,3 @@
-// TODO remove in v0.5.x
-
 #![no_main]
 #![no_std]
 
@@ -11,8 +9,7 @@ use rtfm::app;
 
 #[app(device = lm3s6965)]
 const APP: () = {
-    static mut X: u32 = (); //~ ERROR late resources MUST be initialized at the end of `init`
-
     #[init]
-    fn init() {}
+    unsafe fn init(_: init::Context) {}
+    //~^ ERROR `init` must have type signature `fn(init::Context) [-> init::LateResources]`
 };

tests/cfail/unsafe-interrupt.rs

@@ -0,0 +1,18 @@
+#![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(binds = UART0)]
+    unsafe fn foo(_: foo::Context) {}
+    //~^ ERROR this `interrupt` handler must have type signature `fn(foo::Context)`
+};

tests/cfail/unsafe-task.rs

@@ -0,0 +1,22 @@
+#![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]
+    unsafe fn foo(_: foo::Context) {}
+    //~^ ERROR this `task` handler must have type signature `fn(foo::Context, ..)`
+
+    extern "C" {
+        fn UART0();
+    }
+};

tests/cfail/used-free-interrupt-2.rs

@@ -10,10 +10,10 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[interrupt(binds = UART0)] //~ ERROR free interrupts (`extern { .. }`) can't be used as interrupt handlers
-    fn foo() {}
+    fn foo(_: foo::Context) {}
 
     extern "C" {
         fn UART0();

tests/cfail/used-free-interrupt.rs

@@ -10,10 +10,11 @@ use rtfm::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[interrupt]
-    fn UART0() {} //~ ERROR free interrupts (`extern { .. }`) can't be used as interrupt handlers
+    fn UART0(_: UART0::Context) {}
+    //~^ ERROR free interrupts (`extern { .. }`) can't be used as interrupt handlers
 
     extern "C" {
         fn UART0();

tests/cpass/binds.rs

@@ -1,4 +1,6 @@
 //! Check that `binds` works as advertised
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -6,18 +8,20 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {}
+    fn init(_: init::Context) {}
 
     #[exception(binds = SVCall)]
-    fn foo() {}
+    fn foo(c: foo::Context) {
+        foo_trampoline(c)
+    }
 
     #[interrupt(binds = UART0)]
-    fn bar() {}
+    fn bar(c: bar::Context) {
+        bar_trampoline(c)
+    }
 };
 
 #[allow(dead_code)]

tests/cpass/cfg.rs

@@ -6,24 +6,22 @@
 #![no_std]
 
 extern crate lm3s6965;
-extern crate panic_semihosting;
+extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     #[cfg(never)]
     static mut FOO: u32 = 0;
 
     #[init]
-    fn init() {
+    fn init(_: init::Context) {
         #[cfg(never)]
         static mut BAR: u32 = 0;
     }
 
     #[idle]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         #[cfg(never)]
         static mut BAR: u32 = 0;
 
@@ -31,20 +29,20 @@ const APP: () = {
     }
 
     #[task(resources = [FOO], schedule = [quux], spawn = [quux])]
-    fn foo() {
+    fn foo(_: foo::Context) {
         #[cfg(never)]
         static mut BAR: u32 = 0;
     }
 
     #[task(priority = 3, resources = [FOO], schedule = [quux], spawn = [quux])]
-    fn bar() {
+    fn bar(_: bar::Context) {
         #[cfg(never)]
         static mut BAR: u32 = 0;
     }
 
     #[cfg(never)]
     #[task]
-    fn quux() {}
+    fn quux(_: quux::Context) {}
 
     extern "C" {
         fn UART0();

tests/cpass/late-not-send.rs

@@ -1,3 +1,5 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -7,20 +9,18 @@ extern crate rtfm;
 
 use core::marker::PhantomData;
 
-use rtfm::app;
-
 pub struct NotSend {
     _0: PhantomData<*const ()>,
 }
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static mut X: NotSend = ();
     static mut Y: Option<NotSend> = None;
 
     #[init(resources = [Y])]
-    fn init() -> init::LateResources {
+    fn init(c: init::Context) -> init::LateResources {
-        *resources.Y = Some(NotSend { _0: PhantomData });
+        *c.resources.Y = Some(NotSend { _0: PhantomData });
 
         init::LateResources {
             X: NotSend { _0: PhantomData },
@@ -28,7 +28,7 @@ const APP: () = {
     }
 
     #[idle(resources = [X, Y])]
-    fn idle() -> ! {
+    fn idle(_: idle::Context) -> ! {
         loop {}
     }
 };

tests/cpass/late-resource.rs

@@ -1,4 +1,6 @@
 //! Runtime initialized resources
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -6,15 +8,13 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     static mut X: u32 = ();
     static Y: u32 = ();
 
     #[init]
-    fn init() -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
         init::LateResources { X: 0, Y: 1 }
     }
 };

tests/cpass/peripheral.rs

@@ -1,4 +1,6 @@
 //! Core and device peripherals
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -6,13 +8,11 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init() {
+    fn init(c: init::Context) {
-        let _: rtfm::Peripherals = core;
+        let _: rtfm::Peripherals = c.core;
-        let _: lm3s6965::Peripherals = device;
+        let _: lm3s6965::Peripherals = c.device;
     }
 };

tests/cpass/resource.rs

@@ -1,5 +1,7 @@
 //! Check code generation of resources
 
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -7,9 +9,9 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::{app, Exclusive};
+use rtfm::Exclusive;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     static mut O1: u32 = 0; // init
     static mut O2: u32 = 0; // idle
@@ -23,57 +25,57 @@ const APP: () = {
     static S3: u32 = 0;
 
     #[init(resources = [O1, O4, O5, O6, S3])]
-    fn init() {
+    fn init(c: init::Context) {
         // owned by `init` == `&'static mut`
-        let _: &'static mut u32 = resources.O1;
+        let _: &'static mut u32 = c.resources.O1;
 
         // owned by `init` == `&'static` if read-only
-        let _: &'static u32 = resources.O6;
+        let _: &'static u32 = c.resources.O6;
 
         // `init` has exclusive access to all resources
-        let _: &mut u32 = resources.O4;
+        let _: &mut u32 = c.resources.O4;
-        let _: &mut u32 = resources.O5;
+        let _: &mut u32 = c.resources.O5;
-        let _: &mut u32 = resources.S3;
+        let _: &mut u32 = c.resources.S3;
     }
 
     #[idle(resources = [O2, O4, S1, S3])]
-    fn idle() -> ! {
+    fn idle(mut c: idle::Context) -> ! {
         // owned by `idle` == `&'static mut`
-        let _: &'static mut u32 = resources.O2;
+        let _: &'static mut u32 = c.resources.O2;
 
         // owned by `idle` == `&'static` if read-only
-        let _: &'static u32 = resources.O4;
+        let _: &'static u32 = c.resources.O4;
 
         // shared with `idle` == `Mutex`
-        resources.S1.lock(|_| {});
+        c.resources.S1.lock(|_| {});
 
         // `&` if read-only
-        let _: &u32 = resources.S3;
+        let _: &u32 = c.resources.S3;
 
         loop {}
     }
 
     #[interrupt(resources = [O3, S1, S2, S3])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
         // owned by interrupt == `&mut`
-        let _: &mut u32 = resources.O3;
+        let _: &mut u32 = c.resources.O3;
 
         // no `Mutex` proxy when access from highest priority task
-        let _: Exclusive<u32> = resources.S1;
+        let _: Exclusive<u32> = c.resources.S1;
 
         // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
-        let _: Exclusive<u32> = resources.S2;
+        let _: Exclusive<u32> = c.resources.S2;
 
         // `&` if read-only
-        let _: &u32 = resources.S3;
+        let _: &u32 = c.resources.S3;
     }
 
     #[interrupt(resources = [S2, O5])]
-    fn UART1() {
+    fn UART1(c: UART1::Context) {
         // owned by interrupt == `&` if read-only
-        let _: &u32 = resources.O5;
+        let _: &u32 = c.resources.O5;
 
         // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
-        let _: Exclusive<u32> = resources.S2;
+        let _: Exclusive<u32> = c.resources.S2;
     }
 };

tests/cpass/schedule.rs

@@ -1,3 +1,5 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -5,52 +7,52 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::{app, Instant};
+use rtfm::Instant;
 
-#[app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965)]
 const APP: () = {
     #[init(schedule = [foo, bar, baz])]
-    fn init() {
+    fn init(c: init::Context) {
-        let _: Result<(), ()> = schedule.foo(start + 10.cycles());
+        let _: Result<(), ()> = c.schedule.foo(c.start + 10.cycles());
-        let _: Result<(), u32> = schedule.bar(start + 20.cycles(), 0);
+        let _: Result<(), u32> = c.schedule.bar(c.start + 20.cycles(), 0);
-        let _: Result<(), (u32, u32)> = schedule.baz(start + 30.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 30.cycles(), 0, 1);
     }
 
     #[idle(schedule = [foo, bar, baz])]
-    fn idle() -> ! {
+    fn idle(c: idle::Context) -> ! {
-        let _: Result<(), ()> = schedule.foo(Instant::now() + 40.cycles());
+        let _: Result<(), ()> = c.schedule.foo(Instant::now() + 40.cycles());
-        let _: Result<(), u32> = schedule.bar(Instant::now() + 50.cycles(), 0);
+        let _: Result<(), u32> = c.schedule.bar(Instant::now() + 50.cycles(), 0);
-        let _: Result<(), (u32, u32)> = schedule.baz(Instant::now() + 60.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(Instant::now() + 60.cycles(), 0, 1);
 
         loop {}
     }
 
     #[exception(schedule = [foo, bar, baz])]
-    fn SVCall() {
+    fn SVCall(c: SVCall::Context) {
-        let _: Result<(), ()> = schedule.foo(start + 70.cycles());
+        let _: Result<(), ()> = c.schedule.foo(c.start + 70.cycles());
-        let _: Result<(), u32> = schedule.bar(start + 80.cycles(), 0);
+        let _: Result<(), u32> = c.schedule.bar(c.start + 80.cycles(), 0);
-        let _: Result<(), (u32, u32)> = schedule.baz(start + 90.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 90.cycles(), 0, 1);
     }
 
     #[interrupt(schedule = [foo, bar, baz])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        let _: Result<(), ()> = schedule.foo(start + 100.cycles());
+        let _: Result<(), ()> = c.schedule.foo(c.start + 100.cycles());
-        let _: Result<(), u32> = schedule.bar(start + 110.cycles(), 0);
+        let _: Result<(), u32> = c.schedule.bar(c.start + 110.cycles(), 0);
-        let _: Result<(), (u32, u32)> = schedule.baz(start + 120.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 120.cycles(), 0, 1);
     }
 
     #[task(schedule = [foo, bar, baz])]
-    fn foo() {
+    fn foo(c: foo::Context) {
-        let _: Result<(), ()> = schedule.foo(scheduled + 130.cycles());
+        let _: Result<(), ()> = c.schedule.foo(c.scheduled + 130.cycles());
-        let _: Result<(), u32> = schedule.bar(scheduled + 140.cycles(), 0);
+        let _: Result<(), u32> = c.schedule.bar(c.scheduled + 140.cycles(), 0);
-        let _: Result<(), (u32, u32)> = schedule.baz(scheduled + 150.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.scheduled + 150.cycles(), 0, 1);
     }
 
     #[task]
-    fn bar(_x: u32) {}
+    fn bar(_: bar::Context, _x: u32) {}
 
     #[task]
-    fn baz(_x: u32, _y: u32) {}
+    fn baz(_: baz::Context, _x: u32, _y: u32) {}
 
     extern "C" {
         fn UART1();

tests/cpass/singleton.rs

@@ -1,66 +0,0 @@
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate owned_singleton;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::{app, Exclusive};
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[Singleton]
-    static mut O1: u32 = 0;
-    #[Singleton]
-    static mut O2: u32 = 0;
-    #[Singleton]
-    static mut O3: u32 = 0;
-    #[Singleton]
-    static O4: u32 = 0;
-    #[Singleton]
-    static O5: u32 = 0;
-    #[Singleton]
-    static O6: u32 = 0;
-
-    #[Singleton]
-    static mut S1: u32 = 0;
-    #[Singleton]
-    static S2: u32 = 0;
-
-    #[init(resources = [O1, O2, O3, O4, O5, O6, S1, S2])]
-    fn init() {
-        let _: O1 = resources.O1;
-        let _: &mut O2 = resources.O2;
-        let _: &mut O3 = resources.O3;
-        let _: O4 = resources.O4;
-        let _: &mut O5 = resources.O5;
-        let _: &mut O6 = resources.O6;
-
-        let _: &mut S1 = resources.S1;
-        let _: &mut S2 = resources.S2;
-    }
-
-    #[idle(resources = [O2, O5])]
-    fn idle() -> ! {
-        let _: O2 = resources.O2;
-        let _: O5 = resources.O5;
-
-        loop {}
-    }
-
-    #[interrupt(resources = [O3, O6, S1, S2])]
-    fn UART0() {
-        let _: &mut O3 = resources.O3;
-        let _: &O6 = resources.O6;
-
-        let _: Exclusive<S1> = resources.S1;
-        let _: &S2 = resources.S2;
-    }
-
-    #[interrupt(resources = [S1, S2])]
-    fn UART1() {
-        let _: Exclusive<S1> = resources.S1;
-        let _: &S2 = resources.S2;
-    }
-};

tests/cpass/spawn.rs

@@ -1,4 +1,6 @@
 //! Check code generation of `spawn`
+#![deny(unsafe_code)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
@@ -6,52 +8,50 @@ extern crate lm3s6965;
 extern crate panic_halt;
 extern crate rtfm;
 
-use rtfm::app;
+#[rtfm::app(device = lm3s6965)]
-
-#[app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo, bar, baz])]
-    fn init() {
+    fn init(c: init::Context) {
-        let _: Result<(), ()> = spawn.foo();
+        let _: Result<(), ()> = c.spawn.foo();
-        let _: Result<(), u32> = spawn.bar(0);
+        let _: Result<(), u32> = c.spawn.bar(0);
-        let _: Result<(), (u32, u32)> = spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
     }
 
     #[idle(spawn = [foo, bar, baz])]
-    fn idle() -> ! {
+    fn idle(c: idle::Context) -> ! {
-        let _: Result<(), ()> = spawn.foo();
+        let _: Result<(), ()> = c.spawn.foo();
-        let _: Result<(), u32> = spawn.bar(0);
+        let _: Result<(), u32> = c.spawn.bar(0);
-        let _: Result<(), (u32, u32)> = spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
 
         loop {}
     }
 
     #[exception(spawn = [foo, bar, baz])]
-    fn SVCall() {
+    fn SVCall(c: SVCall::Context) {
-        let _: Result<(), ()> = spawn.foo();
+        let _: Result<(), ()> = c.spawn.foo();
-        let _: Result<(), u32> = spawn.bar(0);
+        let _: Result<(), u32> = c.spawn.bar(0);
-        let _: Result<(), (u32, u32)> = spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
     }
 
     #[interrupt(spawn = [foo, bar, baz])]
-    fn UART0() {
+    fn UART0(c: UART0::Context) {
-        let _: Result<(), ()> = spawn.foo();
+        let _: Result<(), ()> = c.spawn.foo();
-        let _: Result<(), u32> = spawn.bar(0);
+        let _: Result<(), u32> = c.spawn.bar(0);
-        let _: Result<(), (u32, u32)> = spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
     }
 
     #[task(spawn = [foo, bar, baz])]
-    fn foo() {
+    fn foo(c: foo::Context) {
-        let _: Result<(), ()> = spawn.foo();
+        let _: Result<(), ()> = c.spawn.foo();
-        let _: Result<(), u32> = spawn.bar(0);
+        let _: Result<(), u32> = c.spawn.bar(0);
-        let _: Result<(), (u32, u32)> = spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
     }
 
     #[task]
-    fn bar(_x: u32) {}
+    fn bar(_: bar::Context, _x: u32) {}
 
     #[task]
-    fn baz(_x: u32, _y: u32) {}
+    fn baz(_: baz::Context, _x: u32, _y: u32) {}
 
     extern "C" {
         fn UART1();

tests/cpass/unsafe.rs

@@ -1,45 +0,0 @@
-//! Check code generation of `unsafe` `init` / `idle` / `exception` / `interrupt` / `task`
-#![no_main]
-#![no_std]
-
-extern crate lm3s6965;
-extern crate panic_halt;
-extern crate rtfm;
-
-use rtfm::app;
-
-unsafe fn foo() {}
-
-#[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    unsafe fn init() {
-        foo();
-    }
-
-    #[idle]
-    unsafe fn idle() -> ! {
-        foo();
-
-        loop {}
-    }
-
-    #[exception]
-    unsafe fn SVCall() {
-        foo();
-    }
-
-    #[interrupt]
-    unsafe fn UART0() {
-        foo();
-    }
-
-    #[task]
-    unsafe fn bar() {
-        foo();
-    }
-
-    extern "C" {
-        fn UART1();
-    }
-};