From 21db4d1df4b3a3b7a2a6bf61d96d630abfe4d424 Mon Sep 17 00:00:00 2001
From: Eric Trombly <etrombly@yahoo.com>
Date: Fri, 19 Apr 2019 10:50:43 -0500
Subject: [PATCH 01/20] add sandbox example

---
 book/en/src/by-example.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/book/en/src/by-example.md b/book/en/src/by-example.md
index 0e09b03fb1..cafbc86cca 100644
--- a/book/en/src/by-example.md
+++ b/book/en/src/by-example.md
@@ -14,3 +14,9 @@ program. Check [the embedded Rust book] for instructions on how to set up an
 embedded development environment that includes QEMU.
 
 [the embedded Rust book]: https://rust-embedded.github.io/book/intro/install.html
+
+## Real World Examples
+
+The following are examples of RTFM being used in real world projects.
+
+- [etrombly/sandbox](https://github.com/etrombly/sandbox/tree/4f5a230920ad815c0cfbc0e0ae5e39718d3f58fa). A hardware zen garden that draws patterns in sand. Patterns are sent over serial using G-code.

From 19212a9f706b7d66afae7d1e7efa669e24964351 Mon Sep 17 00:00:00 2001
From: Eric Trombly <etrombly@yahoo.com>
Date: Sun, 21 Apr 2019 09:21:33 -0500
Subject: [PATCH 02/20] update commit for example link and specify RTFM version

---
 book/en/src/by-example.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/book/en/src/by-example.md b/book/en/src/by-example.md
index cafbc86cca..e19f07491c 100644
--- a/book/en/src/by-example.md
+++ b/book/en/src/by-example.md
@@ -19,4 +19,6 @@ embedded development environment that includes QEMU.
 
 The following are examples of RTFM being used in real world projects.
 
-- [etrombly/sandbox](https://github.com/etrombly/sandbox/tree/4f5a230920ad815c0cfbc0e0ae5e39718d3f58fa). A hardware zen garden that draws patterns in sand. Patterns are sent over serial using G-code.
+### RTFM V0.4.2
+
+- [etrombly/sandbox](https://github.com/etrombly/sandbox/tree/41d423bcdd0d8e42fd46b79771400a8ca349af55). A hardware zen garden that draws patterns in sand. Patterns are sent over serial using G-code.

From d127b377a5587d14b8f449f9b1de21b8319b17f1 Mon Sep 17 00:00:00 2001
From: Nathan Fox <fuchsnj@gmail.com>
Date: Mon, 27 Jul 2020 21:11:27 -0400
Subject: [PATCH 03/20] fix badges / clean up README

---
 README.md | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 45bb9de840..3b3a471661 100644
--- a/README.md
+++ b/README.md
@@ -4,9 +4,9 @@ A concurrency framework for building real-time systems.
 
 Formerly known as Real-Time For the Masses.
 
-![crates.io](https://img.shields.io/crates/v/cortex-m-rtic)
-![docs.rs](https://docs.rs/cortex-m-rtic/badge.svg)
-![book](https://img.shields.io/badge/web-rtic.rs-red.svg?style=flat&label=book&colorB=d33847)
+[![crates.io](https://img.shields.io/crates/v/cortex-m-rtic)](https://crates.io/crates/cortex-m-rtic)
+[![docs.rs](https://docs.rs/cortex-m-rtic/badge.svg)](https://docs.rs/cortex-m-rtic)
+[![book](https://img.shields.io/badge/web-rtic.rs-red.svg?style=flat&label=book&colorB=d33847)](https://rtic.rs/)
 ![rustc](https://img.shields.io/badge/rustc-1.36+-lightgray.svg)
 
 ## Features
@@ -50,10 +50,6 @@ Formerly known as Real-Time For the Masses.
 
 - Applications must be written using the 2018 edition.
 
-## [User documentation](https://rtic.rs)
-
-## [API reference](https://rtic.rs/0.5/api/)
-
 ## Chat
 Join us and talk about RTIC in the [Matrix room][matrix-room].
 

From 05d08c3be577b7359b9e92873e02300d7dbbe6a5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Thu, 1 Oct 2020 16:29:55 +0000
Subject: [PATCH 04/20] Use latest mdBook

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index c687115389..0f88c80d08 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -529,7 +529,7 @@ jobs:
       - name: mdBook Action
         uses: peaceiris/actions-mdbook@v1.1.11
         with:
-          mdbook-version: '0.3.1'
+          mdbook-version: 'latest'
 
       - name: Build book in English
         run: cd book/en && mdbook build

From e7f0d9c3e3fad77dace2ce63af02559fda46cb73 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 1 Oct 2020 19:38:49 +0200
Subject: [PATCH 05/20] Now late resources are always used

---
 examples/baseline.rs          |  4 ++-
 examples/binds.rs             |  4 ++-
 examples/capacity.rs          |  4 ++-
 examples/cfg.rs               |  4 ++-
 examples/destructure.rs       |  4 ++-
 examples/generics.rs          |  4 ++-
 examples/hardware.rs          |  4 ++-
 examples/idle.rs              |  4 ++-
 examples/init.rs              |  4 ++-
 examples/lock.rs              |  4 ++-
 examples/message.rs           |  4 ++-
 examples/not-send.rs          |  4 ++-
 examples/not-sync.rs          |  4 ++-
 examples/periodic.rs          |  4 ++-
 examples/peripherals-taken.rs |  4 ++-
 examples/pool.rs              |  4 ++-
 examples/preempt.rs           |  4 ++-
 examples/ramfunc.rs           |  4 ++-
 examples/resource.rs          |  4 ++-
 examples/schedule.rs          |  4 ++-
 examples/shared-with-init.rs  |  4 ++-
 examples/t-binds.rs           |  4 ++-
 examples/t-cfg.rs             |  4 ++-
 examples/t-htask-main.rs      |  6 +++--
 examples/t-idle-main.rs       |  4 ++-
 examples/t-init-main.rs       |  4 ++-
 examples/t-resource.rs        |  4 ++-
 examples/t-schedule.rs        |  4 ++-
 examples/t-spawn.rs           |  4 ++-
 examples/t-stask-main.rs      |  4 ++-
 examples/task.rs              |  4 ++-
 examples/types.rs             |  4 ++-
 macros/Cargo.toml             |  2 +-
 macros/src/codegen/init.rs    | 50 +++++++++++++++--------------------
 macros/src/codegen/module.rs  | 12 ++++-----
 35 files changed, 124 insertions(+), 70 deletions(-)

diff --git a/examples/baseline.rs b/examples/baseline.rs
index f46b273d4b..5a6dbd4c17 100644
--- a/examples/baseline.rs
+++ b/examples/baseline.rs
@@ -13,13 +13,15 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         // omitted: initialization of `CYCCNT`
 
         hprintln!("init(baseline = {:?})", cx.start).unwrap();
 
         // `foo` inherits the baseline of `init`: `Instant(0)`
         cx.spawn.foo().unwrap();
+
+        init::LateResources {}
     }
 
     #[task(schedule = [foo])]
diff --git a/examples/binds.rs b/examples/binds.rs
index 82bf89640f..f3ce51ec1c 100644
--- a/examples/binds.rs
+++ b/examples/binds.rs
@@ -13,10 +13,12 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::UART0);
 
         hprintln!("init").unwrap();
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/examples/capacity.rs b/examples/capacity.rs
index 00cec34459..cac0029cc1 100644
--- a/examples/capacity.rs
+++ b/examples/capacity.rs
@@ -12,8 +12,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::UART0);
+
+        init::LateResources {}
     }
 
     #[task(binds = UART0, spawn = [foo, bar])]
diff --git a/examples/cfg.rs b/examples/cfg.rs
index 8eeeb2a93a..4f46724761 100644
--- a/examples/cfg.rs
+++ b/examples/cfg.rs
@@ -19,9 +19,11 @@ const APP: () = {
     }
 
     #[init(spawn = [foo])]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         cx.spawn.foo().unwrap();
         cx.spawn.foo().unwrap();
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/examples/destructure.rs b/examples/destructure.rs
index 1756bd9e75..ad1d859405 100644
--- a/examples/destructure.rs
+++ b/examples/destructure.rs
@@ -22,9 +22,11 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::UART0);
         rtic::pend(Interrupt::UART1);
+
+        init::LateResources {}
     }
 
     // Direct destructure
diff --git a/examples/generics.rs b/examples/generics.rs
index 40ab81ac75..65c5db02a0 100644
--- a/examples/generics.rs
+++ b/examples/generics.rs
@@ -18,9 +18,11 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::UART0);
         rtic::pend(Interrupt::UART1);
+
+        init::LateResources {}
     }
 
     #[task(binds = UART0, resources = [shared])]
diff --git a/examples/hardware.rs b/examples/hardware.rs
index 8105a7420d..30de77ab66 100644
--- a/examples/hardware.rs
+++ b/examples/hardware.rs
@@ -12,12 +12,14 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         // Pends the UART0 interrupt but its handler won't run until *after*
         // `init` returns because interrupts are disabled
         rtic::pend(Interrupt::UART0); // equivalent to NVIC::pend
 
         hprintln!("init").unwrap();
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/examples/idle.rs b/examples/idle.rs
index 3d28dac8a7..b029fcae27 100644
--- a/examples/idle.rs
+++ b/examples/idle.rs
@@ -11,8 +11,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         hprintln!("init").unwrap();
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/examples/init.rs b/examples/init.rs
index 315969f045..d5cebbaaa1 100644
--- a/examples/init.rs
+++ b/examples/init.rs
@@ -11,7 +11,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, peripherals = true)]
 const APP: () = {
     #[init]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         static mut X: u32 = 0;
 
         // Cortex-M peripherals
@@ -26,5 +26,7 @@ const APP: () = {
         hprintln!("init").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS);
+
+        init::LateResources {}
     }
 };
diff --git a/examples/lock.rs b/examples/lock.rs
index 5e3bce2500..ff947c5360 100644
--- a/examples/lock.rs
+++ b/examples/lock.rs
@@ -17,8 +17,10 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::GPIOA);
+
+        init::LateResources {}
     }
 
     // when omitted priority is assumed to be `1`
diff --git a/examples/message.rs b/examples/message.rs
index 596f244904..a1352c0e8a 100644
--- a/examples/message.rs
+++ b/examples/message.rs
@@ -11,8 +11,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         c.spawn.foo(/* no message */).unwrap();
+
+        init::LateResources {}
     }
 
     #[task(spawn = [bar])]
diff --git a/examples/not-send.rs b/examples/not-send.rs
index 16a874dc0f..999abfaff4 100644
--- a/examples/not-send.rs
+++ b/examples/not-send.rs
@@ -23,9 +23,11 @@ const APP: () = {
     }
 
     #[init(spawn = [baz, quux])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         c.spawn.baz().unwrap();
         c.spawn.quux().unwrap();
+
+        init::LateResources {}
     }
 
     #[task(spawn = [bar])]
diff --git a/examples/not-sync.rs b/examples/not-sync.rs
index a7eaac8e7f..5a67489fa4 100644
--- a/examples/not-sync.rs
+++ b/examples/not-sync.rs
@@ -22,8 +22,10 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         debug::exit(debug::EXIT_SUCCESS);
+
+        init::LateResources {}
     }
 
     #[task(resources = [&shared])]
diff --git a/examples/periodic.rs b/examples/periodic.rs
index 405346e390..da56d468a8 100644
--- a/examples/periodic.rs
+++ b/examples/periodic.rs
@@ -15,10 +15,12 @@ const PERIOD: u32 = 8_000_000;
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo])]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         // omitted: initialization of `CYCCNT`
 
         cx.schedule.foo(cx.start + PERIOD.cycles()).unwrap();
+
+        init::LateResources {}
     }
 
     #[task(schedule = [foo])]
diff --git a/examples/peripherals-taken.rs b/examples/peripherals-taken.rs
index cd4ba0f0ed..42ad8c0fcb 100644
--- a/examples/peripherals-taken.rs
+++ b/examples/peripherals-taken.rs
@@ -9,8 +9,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn main(_: main::Context) {
+    fn main(_: main::Context) -> main::LateResources {
         assert!(cortex_m::Peripherals::take().is_none());
         debug::exit(debug::EXIT_SUCCESS);
+
+        main::LateResources {}
     }
 };
diff --git a/examples/pool.rs b/examples/pool.rs
index 824d5bd86b..9fccdf8449 100644
--- a/examples/pool.rs
+++ b/examples/pool.rs
@@ -20,13 +20,15 @@ pool!(P: [u8; 128]);
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         static mut MEMORY: [u8; 512] = [0; 512];
 
         // Increase the capacity of the memory pool by ~4
         P::grow(MEMORY);
 
         rtic::pend(Interrupt::I2C0);
+
+        init::LateResources {}
     }
 
     #[task(binds = I2C0, priority = 2, spawn = [foo, bar])]
diff --git a/examples/preempt.rs b/examples/preempt.rs
index 3cb11029b4..7103b17be2 100644
--- a/examples/preempt.rs
+++ b/examples/preempt.rs
@@ -11,8 +11,10 @@ use rtic::app;
 #[app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::GPIOA);
+
+        init::LateResources {}
     }
 
     #[task(binds = GPIOA, priority = 1)]
diff --git a/examples/ramfunc.rs b/examples/ramfunc.rs
index 1f95d496ef..214b7e6772 100644
--- a/examples/ramfunc.rs
+++ b/examples/ramfunc.rs
@@ -11,8 +11,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [bar])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         c.spawn.bar().unwrap();
+
+        init::LateResources {}
     }
 
     #[inline(never)]
diff --git a/examples/resource.rs b/examples/resource.rs
index 2361fd0033..06aa975677 100644
--- a/examples/resource.rs
+++ b/examples/resource.rs
@@ -18,9 +18,11 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         rtic::pend(Interrupt::UART0);
         rtic::pend(Interrupt::UART1);
+
+        init::LateResources {}
     }
 
     // `shared` cannot be accessed from this context
diff --git a/examples/schedule.rs b/examples/schedule.rs
index 70a7a5e328..b76d9e7f81 100644
--- a/examples/schedule.rs
+++ b/examples/schedule.rs
@@ -14,7 +14,7 @@ use rtic::cyccnt::{Instant, U32Ext as _};
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo, bar])]
-    fn init(mut cx: init::Context) {
+    fn init(mut cx: init::Context) -> init::LateResources {
         // Initialize (enable) the monotonic timer (CYCCNT)
         cx.core.DCB.enable_trace();
         // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
@@ -32,6 +32,8 @@ const APP: () = {
 
         // Schedule `bar` to run 4e6 cycles in the future
         cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
+
+        init::LateResources {}
     }
 
     #[task]
diff --git a/examples/shared-with-init.rs b/examples/shared-with-init.rs
index bd55f7efd5..fa900a262d 100644
--- a/examples/shared-with-init.rs
+++ b/examples/shared-with-init.rs
@@ -20,12 +20,14 @@ const APP: () = {
     }
 
     #[init(resources = [shared])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         // this `message` will be sent to task `UART0`
         let message = MustBeSend;
         *c.resources.shared = Some(message);
 
         rtic::pend(Interrupt::UART0);
+
+        init::LateResources {}
     }
 
     #[task(binds = UART0, resources = [shared])]
diff --git a/examples/t-binds.rs b/examples/t-binds.rs
index 588ac46fa6..edf0fc6991 100644
--- a/examples/t-binds.rs
+++ b/examples/t-binds.rs
@@ -10,7 +10,9 @@ use panic_halt as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {}
+    fn init(_: init::Context) -> init::LateResources {
+        init::LateResources {}
+    }
 
     // Cortex-M exception
     #[task(binds = SVCall)]
diff --git a/examples/t-cfg.rs b/examples/t-cfg.rs
index b6c9e47207..254cb8e026 100644
--- a/examples/t-cfg.rs
+++ b/examples/t-cfg.rs
@@ -14,9 +14,11 @@ const APP: () = {
     }
 
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         #[cfg(never)]
         static mut BAR: u32 = 0;
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/examples/t-htask-main.rs b/examples/t-htask-main.rs
index c4bebf94dc..885019a179 100644
--- a/examples/t-htask-main.rs
+++ b/examples/t-htask-main.rs
@@ -9,8 +9,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
-        rtic::pend(lm3s6965::Interrupt::UART0)
+    fn init(_: init::Context) -> init::LateResources {
+        rtic::pend(lm3s6965::Interrupt::UART0);
+
+        init::LateResources {}
     }
 
     #[task(binds = UART0)]
diff --git a/examples/t-idle-main.rs b/examples/t-idle-main.rs
index 051a9ee812..3e06cac65b 100644
--- a/examples/t-idle-main.rs
+++ b/examples/t-idle-main.rs
@@ -9,7 +9,9 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {}
+    fn init(_: init::Context) -> init::LateResources {
+        init::LateResources {}
+    }
 
     #[idle]
     fn main(_: main::Context) -> ! {
diff --git a/examples/t-init-main.rs b/examples/t-init-main.rs
index 6a6cd99164..f6c1d9cac3 100644
--- a/examples/t-init-main.rs
+++ b/examples/t-init-main.rs
@@ -9,7 +9,9 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn main(_: main::Context) {
+    fn main(_: main::Context) -> main::LateResources {
         debug::exit(debug::EXIT_SUCCESS);
+
+        main::LateResources {}
     }
 };
diff --git a/examples/t-resource.rs b/examples/t-resource.rs
index 81ba18563f..78e518c106 100644
--- a/examples/t-resource.rs
+++ b/examples/t-resource.rs
@@ -31,7 +31,7 @@ const APP: () = {
     }
 
     #[init(resources = [o1, o4, o5, o6, s3])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         // owned by `init` == `&'static mut`
         let _: &'static mut u32 = c.resources.o1;
 
@@ -42,6 +42,8 @@ const APP: () = {
         let _: &mut u32 = c.resources.o4;
         let _: &mut u32 = c.resources.o5;
         let _: &mut u32 = c.resources.s3;
+
+        init::LateResources {}
     }
 
     #[idle(resources = [o2, &o4, s1, &s3])]
diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs
index 3854aad36b..8af01abaa2 100644
--- a/examples/t-schedule.rs
+++ b/examples/t-schedule.rs
@@ -11,10 +11,12 @@ use rtic::cyccnt::{Instant, U32Ext as _};
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo, bar, baz])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         let _: Result<(), ()> = c.schedule.foo(c.start + 10.cycles());
         let _: Result<(), u32> = c.schedule.bar(c.start + 20.cycles(), 0);
         let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 30.cycles(), 0, 1);
+
+        init::LateResources {}
     }
 
     #[idle(schedule = [foo, bar, baz])]
diff --git a/examples/t-spawn.rs b/examples/t-spawn.rs
index 35831ccf9d..af2a79ea77 100644
--- a/examples/t-spawn.rs
+++ b/examples/t-spawn.rs
@@ -10,10 +10,12 @@ use panic_halt as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo, bar, baz])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         let _: Result<(), ()> = c.spawn.foo();
         let _: Result<(), u32> = c.spawn.bar(0);
         let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+
+        init::LateResources {}
     }
 
     #[idle(spawn = [foo, bar, baz])]
diff --git a/examples/t-stask-main.rs b/examples/t-stask-main.rs
index f270940454..aefd482164 100644
--- a/examples/t-stask-main.rs
+++ b/examples/t-stask-main.rs
@@ -9,8 +9,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [main])]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         cx.spawn.main().ok();
+
+        init::LateResources {}
     }
 
     #[task]
diff --git a/examples/task.rs b/examples/task.rs
index 12c4ac8355..e148b3560b 100644
--- a/examples/task.rs
+++ b/examples/task.rs
@@ -11,8 +11,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init(spawn = [foo])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         c.spawn.foo().unwrap();
+
+        init::LateResources {}
     }
 
     #[task(spawn = [bar, baz])]
diff --git a/examples/types.rs b/examples/types.rs
index 5233f868b1..46d08b8395 100644
--- a/examples/types.rs
+++ b/examples/types.rs
@@ -17,7 +17,7 @@ const APP: () = {
     }
 
     #[init(schedule = [foo], spawn = [foo])]
-    fn init(cx: init::Context) {
+    fn init(cx: init::Context) -> init::LateResources {
         let _: cyccnt::Instant = cx.start;
         let _: rtic::Peripherals = cx.core;
         let _: lm3s6965::Peripherals = cx.device;
@@ -25,6 +25,8 @@ const APP: () = {
         let _: init::Spawn = cx.spawn;
 
         debug::exit(debug::EXIT_SUCCESS);
+
+        init::LateResources {}
     }
 
     #[idle(schedule = [foo], spawn = [foo])]
diff --git a/macros/Cargo.toml b/macros/Cargo.toml
index 610890bbfb..ec5c130c95 100644
--- a/macros/Cargo.toml
+++ b/macros/Cargo.toml
@@ -21,5 +21,5 @@ proc-macro = true
 proc-macro2 = "1"
 quote = "1"
 syn = "1"
-rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.4.0" }
+rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "always_late_resources" }
 
diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index e0b7d69972..b41c389489 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -34,39 +34,31 @@ pub fn codegen(
 
         let mut root_init = vec![];
 
-        let ret = {
-            let late_fields = analysis
-                .late_resources
-                .iter()
-                .flat_map(|resources| {
-                    resources.iter().map(|name| {
-                        let ty = &app.late_resources[name].ty;
-                        let cfgs = &app.late_resources[name].cfgs;
+        let late_fields = analysis
+            .late_resources
+            .iter()
+            .flat_map(|resources| {
+                resources.iter().map(|name| {
+                    let ty = &app.late_resources[name].ty;
+                    let cfgs = &app.late_resources[name].cfgs;
 
-                        quote!(
-                        #(#cfgs)*
-                        pub #name: #ty
-                        )
-                    })
+                    quote!(
+                    #(#cfgs)*
+                    pub #name: #ty
+                    )
                 })
-                .collect::<Vec<_>>();
+            })
+            .collect::<Vec<_>>();
 
-            if !late_fields.is_empty() {
-                let late_resources = util::late_resources_ident(&name);
+        let late_resources = util::late_resources_ident(&name);
 
-                root_init.push(quote!(
-                    /// Resources initialized at runtime
-                    #[allow(non_snake_case)]
-                    pub struct #late_resources {
-                        #(#late_fields),*
-                    }
-                ));
-
-                Some(quote!(-> #name::LateResources))
-            } else {
-                None
+        root_init.push(quote!(
+            /// Resources initialized at runtime
+            #[allow(non_snake_case)]
+            pub struct #late_resources {
+                #(#late_fields),*
             }
-        };
+        ));
 
         let mut locals_pat = None;
         let mut locals_new = None;
@@ -85,7 +77,7 @@ pub fn codegen(
         let user_init = Some(quote!(
             #(#attrs)*
             #[allow(non_snake_case)]
-            fn #name(#(#locals_pat,)* #context: #name::Context) #ret {
+            fn #name(#(#locals_pat,)* #context: #name::Context) -> #name::LateResources {
                 #(#stmts)*
             }
         ));
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 863f6c5b73..85bab3ab68 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -253,14 +253,12 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
 
     if let Context::Init = ctxt {
         let init = &app.inits.first().unwrap();
-        if init.returns_late_resources {
-            let late_resources = util::late_resources_ident(&init.name);
+        let late_resources = util::late_resources_ident(&init.name);
 
-            items.push(quote!(
-                #[doc(inline)]
-                pub use super::#late_resources as LateResources;
-            ));
-        }
+        items.push(quote!(
+            #[doc(inline)]
+            pub use super::#late_resources as LateResources;
+        ));
     }
 
     let doc = match ctxt {

From 9d2598dc071882a94b813ab1d9ddf49092546257 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 1 Oct 2020 20:14:07 +0200
Subject: [PATCH 06/20] Fixing test errors

---
 ui/single/locals-cfg.rs             |  4 ++-
 ui/single/locals-cfg.stderr         | 16 ++++++------
 ui/single/resources-cfg.rs          |  4 ++-
 ui/single/resources-cfg.stderr      | 40 ++++++++++++++---------------
 ui/single/task-priority-too-high.rs |  4 ++-
 5 files changed, 37 insertions(+), 31 deletions(-)

diff --git a/ui/single/locals-cfg.rs b/ui/single/locals-cfg.rs
index 54bba8aefd..cd8677a94c 100644
--- a/ui/single/locals-cfg.rs
+++ b/ui/single/locals-cfg.rs
@@ -3,11 +3,13 @@
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {
+    fn init(_: init::Context) -> init::LateResources {
         #[cfg(never)]
         static mut FOO: u32 = 0;
 
         FOO;
+
+        init::LateResources {}
     }
 
     #[idle]
diff --git a/ui/single/locals-cfg.stderr b/ui/single/locals-cfg.stderr
index bb558fa60e..dc104a698b 100644
--- a/ui/single/locals-cfg.stderr
+++ b/ui/single/locals-cfg.stderr
@@ -5,27 +5,27 @@ error[E0425]: cannot find value `FOO` in this scope
    |         ^^^ not found in this scope
 
 error[E0425]: cannot find value `FOO` in this scope
-  --> $DIR/locals-cfg.rs:18:9
+  --> $DIR/locals-cfg.rs:20:9
    |
-18 |         FOO;
+20 |         FOO;
    |         ^^^ not found in this scope
 
 error[E0425]: cannot find value `FOO` in this scope
-  --> $DIR/locals-cfg.rs:28:9
+  --> $DIR/locals-cfg.rs:30:9
    |
-28 |         FOO;
+30 |         FOO;
    |         ^^^ not found in this scope
 
 error[E0425]: cannot find value `FOO` in this scope
-  --> $DIR/locals-cfg.rs:36:9
+  --> $DIR/locals-cfg.rs:38:9
    |
-36 |         FOO;
+38 |         FOO;
    |         ^^^ not found in this scope
 
 error[E0425]: cannot find value `FOO` in this scope
-  --> $DIR/locals-cfg.rs:44:9
+  --> $DIR/locals-cfg.rs:46:9
    |
-44 |         FOO;
+46 |         FOO;
    |         ^^^ not found in this scope
 
 error: duplicate lang item in crate `panic_halt`: `panic_impl`.
diff --git a/ui/single/resources-cfg.rs b/ui/single/resources-cfg.rs
index df7ac80605..bcb712082d 100644
--- a/ui/single/resources-cfg.rs
+++ b/ui/single/resources-cfg.rs
@@ -41,12 +41,14 @@ const APP: () = {
     }
 
     #[init(resources = [o1, o4, o5, o6, s3])]
-    fn init(c: init::Context) {
+    fn init(c: init::Context) -> init::LateResources {
         c.resources.o1;
         c.resources.o4;
         c.resources.o5;
         c.resources.o6;
         c.resources.s3;
+
+        init::LateResources {}
     }
 
     #[idle(resources = [o2, &o4, s1, &s3])]
diff --git a/ui/single/resources-cfg.stderr b/ui/single/resources-cfg.stderr
index c47b95d4b9..68063693ab 100644
--- a/ui/single/resources-cfg.stderr
+++ b/ui/single/resources-cfg.stderr
@@ -39,81 +39,81 @@ error[E0609]: no field `s3` on type `initResources<'_>`
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `o2` on type `idleResources<'_>`
-  --> $DIR/resources-cfg.rs:54:21
+  --> $DIR/resources-cfg.rs:56:21
    |
-54 |         c.resources.o2;
+56 |         c.resources.o2;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `o4` on type `idleResources<'_>`
-  --> $DIR/resources-cfg.rs:55:21
+  --> $DIR/resources-cfg.rs:57:21
    |
-55 |         c.resources.o4;
+57 |         c.resources.o4;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s1` on type `idleResources<'_>`
-  --> $DIR/resources-cfg.rs:56:21
+  --> $DIR/resources-cfg.rs:58:21
    |
-56 |         c.resources.s1;
+58 |         c.resources.s1;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s3` on type `idleResources<'_>`
-  --> $DIR/resources-cfg.rs:57:21
+  --> $DIR/resources-cfg.rs:59:21
    |
-57 |         c.resources.s3;
+59 |         c.resources.s3;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `o3` on type `uart0Resources<'_>`
-  --> $DIR/resources-cfg.rs:64:21
+  --> $DIR/resources-cfg.rs:66:21
    |
-64 |         c.resources.o3;
+66 |         c.resources.o3;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s1` on type `uart0Resources<'_>`
-  --> $DIR/resources-cfg.rs:65:21
+  --> $DIR/resources-cfg.rs:67:21
    |
-65 |         c.resources.s1;
+67 |         c.resources.s1;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s2` on type `uart0Resources<'_>`
-  --> $DIR/resources-cfg.rs:66:21
+  --> $DIR/resources-cfg.rs:68:21
    |
-66 |         c.resources.s2;
+68 |         c.resources.s2;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s3` on type `uart0Resources<'_>`
-  --> $DIR/resources-cfg.rs:67:21
+  --> $DIR/resources-cfg.rs:69:21
    |
-67 |         c.resources.s3;
+69 |         c.resources.s3;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `s2` on type `uart1Resources<'_>`
-  --> $DIR/resources-cfg.rs:72:21
+  --> $DIR/resources-cfg.rs:74:21
    |
-72 |         c.resources.s2;
+74 |         c.resources.s2;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
 
 error[E0609]: no field `o5` on type `uart1Resources<'_>`
-  --> $DIR/resources-cfg.rs:73:21
+  --> $DIR/resources-cfg.rs:75:21
    |
-73 |         c.resources.o5;
+75 |         c.resources.o5;
    |                     ^^ unknown field
    |
    = note: available fields are: `__marker__`
diff --git a/ui/single/task-priority-too-high.rs b/ui/single/task-priority-too-high.rs
index 539c3f5d0e..62e531d81d 100644
--- a/ui/single/task-priority-too-high.rs
+++ b/ui/single/task-priority-too-high.rs
@@ -5,7 +5,9 @@ use rtic::app;
 #[rtic::app(device = lm3s6965)]
 const APP: () = {
     #[init]
-    fn init(_: init::Context) {}
+    fn init(_: init::Context) -> init::LateResources {
+        init::LateResources {}
+    }
 
     #[task(binds = GPIOA, priority = 1)]
     fn gpioa(_: gpioa::Context) {}

From 91c2d4850e31da1bbd49fc668ae79533e7ac3ab4 Mon Sep 17 00:00:00 2001
From: Daniel Carosone <Daniel.Carosone@gmail.com>
Date: Fri, 2 Oct 2020 19:56:17 +1000
Subject: [PATCH 07/20] Shared access is useful with interior mutability

---
 book/en/src/by-example/resources.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/book/en/src/by-example/resources.md b/book/en/src/by-example/resources.md
index d67a72ff48..9831e55b3b 100644
--- a/book/en/src/by-example/resources.md
+++ b/book/en/src/by-example/resources.md
@@ -114,7 +114,9 @@ are required to access the resource even if the resource is contended by several
 tasks running at different priorities. The downside is that the task only gets a
 shared reference (`&-`) to the resource, limiting the operations it can perform
 on it, but where a shared reference is enough this approach reduces the number
-of required locks.
+of required locks. In addition to simple immutable data, this shared access can
+be useful where the resource type safely implements interior mutability, with
+appropriate locking or atomic operations of its own.
 
 Note that in this release of RTIC it is not possible to request both exclusive
 access (`&mut-`) and shared access (`&-`) to the *same* resource from different

From 3d6a0ea64fb2661ee1150a84425f50c18c2de9ad Mon Sep 17 00:00:00 2001
From: Daniel Carosone <Daniel.Carosone@gmail.com>
Date: Fri, 2 Oct 2020 20:43:52 +1000
Subject: [PATCH 08/20] minor markdownlints

---
 book/en/src/by-example/resources.md | 2 +-
 book/en/src/by-example/tips.md      | 1 +
 book/en/src/migration.md            | 3 +--
 book/en/src/migration_rtic.md       | 4 ----
 4 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/book/en/src/by-example/resources.md b/book/en/src/by-example/resources.md
index 9831e55b3b..9b6e5a809f 100644
--- a/book/en/src/by-example/resources.md
+++ b/book/en/src/by-example/resources.md
@@ -1,4 +1,4 @@
-## Resources
+# Resources
 
 The framework provides an abstraction to share data between any of the contexts
 we saw in the previous section (task handlers, `init` and `idle`): resources.
diff --git a/book/en/src/by-example/tips.md b/book/en/src/by-example/tips.md
index 5a44708865..98c1abbf1e 100644
--- a/book/en/src/by-example/tips.md
+++ b/book/en/src/by-example/tips.md
@@ -116,6 +116,7 @@ Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes.
 ``` rust
 {{#include ../../../../examples/pool.rs}}
 ```
+
 ``` console
 $ cargo run --example pool
 {{#include ../../../../ci/expected/pool.run}}
diff --git a/book/en/src/migration.md b/book/en/src/migration.md
index 6cca64dba4..d382db1724 100644
--- a/book/en/src/migration.md
+++ b/book/en/src/migration.md
@@ -8,7 +8,6 @@ the version v0.5.0 of the framework.
 First, the version of the `cortex-m-rtic` dependency needs to be updated to
 `"0.5.0"`. The `timer-queue` feature needs to be removed.
 
-
 ``` toml
 [dependencies.cortex-m-rtic]
 # change this
@@ -194,7 +193,7 @@ Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
 into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
 devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
 inside the core peripherals struct, this will need to be enabled by the application
-inside `init`. 
+inside `init`.
 
 Change this:
 
diff --git a/book/en/src/migration_rtic.md b/book/en/src/migration_rtic.md
index 555f1bb710..c027da35fd 100644
--- a/book/en/src/migration_rtic.md
+++ b/book/en/src/migration_rtic.md
@@ -8,14 +8,11 @@ change.
 
 [RFC #33]: https://github.com/rtic-rs/rfcs/pull/33
 
-
-
 ## `Cargo.toml`
 
 First, the `cortex-m-rtfm` dependency needs to be updated to
 `cortex-m-rtic`.
 
-
 ``` toml
 [dependencies]
 # change this
@@ -51,4 +48,3 @@ const APP: () = {
 
 };
 ```
-

From 3fed6a944e73e1a077d218f77c0957cfdd508688 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Mon, 5 Oct 2020 10:07:43 +0000
Subject: [PATCH 09/20] Use a full copy of the book instead of symlink

---
 .github/workflows/build.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 56183c3ac9..b6aed4e7fd 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -586,6 +586,8 @@ jobs:
           stable=$(git tag | grep "^v" | grep -v "-" | tail -n 1 | cut -c2-4)
           vers=( 0.5.x 0.4.x  )
 
+          echo "Stable version: $stable"
+
           # Create directories
           td=$(mktemp -d)
           mkdir -p $td/$devver/book/
@@ -630,8 +632,8 @@ jobs:
               rm -rf $src
           done
 
-          # Create alias for the stable release
-          ln -s $stable $td/stable
+          # Copy the stable book to the stable alias
+          cp -r $td/$stable $td/stable
 
           # Forward CNAME file
           cp CNAME $td/

From a38952fbd4f972c2016093a852a35aadc479ac72 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Mon, 5 Oct 2020 10:44:57 +0000
Subject: [PATCH 10/20] Unable to use git for tags

---
 .github/workflows/build.yml | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index b6aed4e7fd..1d5773e458 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -579,13 +579,14 @@ jobs:
         run: |
           langs=( en ru )
           devver=( dev )
-          # Query git for tagged releases, all releases start with "v"
-          # followed by MAJOR.MINOR.PATCH, see semver.org
-          # Then remove all pre-releases/tags with hyphens (-).
-          # The latest release is last, finally trim "v" and PATCH
-          stable=$(git tag | grep "^v" | grep -v "-" | tail -n 1 | cut -c2-4)
+          # The latest stable must be the first element in the array
           vers=( 0.5.x 0.4.x  )
 
+          # All releases start with "v"
+          # followed by MAJOR.MINOR.PATCH, see semver.org
+          # Retain MAJOR.MINOR as $stable
+          stable=${vers%.*}
+
           echo "Stable version: $stable"
 
           # Create directories

From da1b31d95af9557020889917ea8a014091a44418 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Mon, 5 Oct 2020 10:48:20 +0000
Subject: [PATCH 11/20] Also update for the deploy stage

---
 .github/workflows/build.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 0f88c80d08..e64381f74e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -582,8 +582,7 @@ jobs:
       - name: mdBook Action
         uses: peaceiris/actions-mdbook@v1.1.11
         with:
-          mdbook-version: '0.3.1'
-          # mdbook-version: 'latest'
+          mdbook-version: 'latest'
 
       - name: Remove cargo-config
         run: rm -f .cargo/config

From 7261685b7fa3d555c29a4cd9f8dd208d985c182c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Mon, 5 Oct 2020 09:35:07 +0000
Subject: [PATCH 12/20] Separate example check and run-pass tests

---
 .github/workflows/build.yml | 49 ++++++++++++++++++++++++++++++++++++-
 1 file changed, 48 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 1d5773e458..e53672bc46 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -85,7 +85,7 @@ jobs:
           command: check
           args: --target=${{ matrix.target }}
 
-  # Verify all examples
+  # Verify all examples, checks
   checkexamples:
     name: checkexamples
     runs-on: ubuntu-20.04
@@ -140,6 +140,51 @@ jobs:
           command: check
           args: --examples --target=${{ matrix.target }} --features __min_r1_43,${{ env.V7 }}
 
+  # Verify the example output with run-pass tests
+  testexamples:
+    name: testexamples
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target:
+          - thumbv7m-none-eabi
+          - thumbv6m-none-eabi
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Cache cargo dependencies
+        uses: actions/cache@v2
+        with:
+          path: |
+            - ~/.cargo/bin/
+            - ~/.cargo/registry/index/
+            - ~/.cargo/registry/cache/
+            - ~/.cargo/git/db/
+          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+          restore-keys: |
+            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+            ${{ runner.OS }}-cargo-
+
+      - name: Cache build output dependencies
+        uses: actions/cache@v2
+        with:
+          path: target
+          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
+          restore-keys: |
+            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
+            ${{ runner.OS }}-build-
+
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+          components: llvm-tools-preview
+
       # Use precompiled binutils
       - name: cargo install cargo-binutils
         uses: actions-rs/install@v0.1
@@ -657,6 +702,7 @@ jobs:
       - style
       - check
       - checkexamples
+      - testexamples
       - checkmacros
       - testv7
       - testv6
@@ -673,6 +719,7 @@ jobs:
       - style
       - check
       - checkexamples
+      - testexamples
       - checkmacros
       - testv7
       - testv6

From c21ccd04ce52c5d469a2bdfd4e0125540ad1cddb Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Mon, 5 Oct 2020 18:30:06 +0200
Subject: [PATCH 13/20] Overwrite steerr files

---
 ui/single/locals-cfg.stderr | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ui/single/locals-cfg.stderr b/ui/single/locals-cfg.stderr
index 63953fc9bc..e58bd935e3 100644
--- a/ui/single/locals-cfg.stderr
+++ b/ui/single/locals-cfg.stderr
@@ -31,7 +31,7 @@ error[E0425]: cannot find value `FOO` in this scope
 error: duplicate lang item in crate `panic_halt` (which `$CRATE` depends on): `panic_impl`.
   |
   = note: the lang item is first defined in crate `std` (which `$CRATE` depends on)
-  = note: first definition in `std` loaded from /usr/share/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-cf0f33af3a901778.rlib
+  = note: first definition in `std` loaded from /usr/share/rust/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-cf0f33af3a901778.rlib
   = note: second definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-ba6f0ab3439cbc7e.rmeta
 
 error: duplicate lang item in crate `panic_semihosting`: `panic_impl`.

From 44f26fe90c2b49f3a30c507bf930b6bedc283a9c Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Mon, 5 Oct 2020 20:05:52 +0200
Subject: [PATCH 14/20] Move to master of rtic-syntax

---
 macros/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/macros/Cargo.toml b/macros/Cargo.toml
index ec5c130c95..610890bbfb 100644
--- a/macros/Cargo.toml
+++ b/macros/Cargo.toml
@@ -21,5 +21,5 @@ proc-macro = true
 proc-macro2 = "1"
 quote = "1"
 syn = "1"
-rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "always_late_resources" }
+rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.4.0" }
 

From 8ab7be98714d1ef6298e6feb19f16b84cd9bb4e6 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Mon, 5 Oct 2020 20:19:52 +0200
Subject: [PATCH 15/20] Added back accidentally removed block

---
 macros/src/codegen/init.rs | 6 ++++++
 macros/src/lib.rs          | 3 +--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index 1ced68bccc..8942439bd7 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -63,6 +63,12 @@ pub fn codegen(
             }
         ));
 
+        let name_late = format_ident!("{}LateResources", name);
+        user_init_imports.push(quote!(
+                #[allow(non_snake_case)]
+                use super::#name_late;
+        ));
+
         let mut locals_pat = None;
         let mut locals_new = None;
         if !init.locals.is_empty() {
diff --git a/macros/src/lib.rs b/macros/src/lib.rs
index 94e7eec60c..e659559e9b 100644
--- a/macros/src/lib.rs
+++ b/macros/src/lib.rs
@@ -35,8 +35,7 @@ mod tests;
 ///
 /// The items allowed in the module block are specified below:
 ///
-/// # 1. `#[resources]
-///       struct <resource-name>`
+/// # 1. `#[resources] struct <resource-name>`
 ///
 /// This structure contains the declaration of all the resources used by the application. Each field
 /// in this structure corresponds to a different resource. Each resource may optionally be given an

From e17a1fc903c18eb4fcc1d2dd3f86d4ded830f3e3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Mon, 5 Oct 2020 18:37:21 +0000
Subject: [PATCH 16/20] Run the macro tests

---
 .github/workflows/build.yml | 54 +++++++++++++++++++++++++++++++++++++
 1 file changed, 54 insertions(+)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index e53672bc46..5a47a757c6 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -386,6 +386,56 @@ jobs:
           command: check
           args: --manifest-path macros/Cargo.toml --target=${{ matrix.target }}
 
+  # Run the  macros test-suite
+  testmacros:
+    name: testmacros
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target:
+          - x86_64-unknown-linux-gnu
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Cache cargo dependencies
+        uses: actions/cache@v2
+        with:
+          path: |
+            - ~/.cargo/bin/
+            - ~/.cargo/registry/index/
+            - ~/.cargo/registry/cache/
+            - ~/.cargo/git/db/
+          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+          restore-keys: |
+            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+            ${{ runner.OS }}-cargo-
+
+      - name: Cache build output dependencies
+        uses: actions/cache@v2
+        with:
+          path: target
+          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
+          restore-keys: |
+            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
+            ${{ runner.OS }}-build-
+
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+
+      - name: cargo check
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: test
+          args: --manifest-path macros/Cargo.toml --target=${{ matrix.target }}
+
   # Run test suite for thumbv7m
   testv7:
     name: testv7
@@ -586,7 +636,9 @@ jobs:
       - style
       - check
       - checkexamples
+      - testexamples
       - checkmacros
+      - testmacros
       - testv7
       - testv6
       - docs
@@ -704,6 +756,7 @@ jobs:
       - checkexamples
       - testexamples
       - checkmacros
+      - testmacros
       - testv7
       - testv6
       - docs
@@ -721,6 +774,7 @@ jobs:
       - checkexamples
       - testexamples
       - checkmacros
+      - testmacros
       - testv7
       - testv6
       - docs

From 71a279f6d0a2fa4f0e51d09eda47bd422a1b0240 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Mon, 5 Oct 2020 20:38:52 +0200
Subject: [PATCH 17/20] Split up migration guides into its own sections

---
 book/en/src/SUMMARY.md                        |   6 +-
 book/en/src/migration.md                      | 333 +-----------------
 book/en/src/{ => migration}/migration_rtic.md |   0
 book/en/src/migration/migration_v4.md         | 232 ++++++++++++
 book/en/src/migration/migration_v5.md         |  96 +++++
 5 files changed, 335 insertions(+), 332 deletions(-)
 rename book/en/src/{ => migration}/migration_rtic.md (100%)
 create mode 100644 book/en/src/migration/migration_v4.md
 create mode 100644 book/en/src/migration/migration_v5.md

diff --git a/book/en/src/SUMMARY.md b/book/en/src/SUMMARY.md
index a573cbb55a..e1a4a330c7 100644
--- a/book/en/src/SUMMARY.md
+++ b/book/en/src/SUMMARY.md
@@ -10,8 +10,10 @@
   - [Types, Send and Sync](./by-example/types-send-sync.md)
   - [Starting a new project](./by-example/new.md)
   - [Tips & tricks](./by-example/tips.md)
-- [Migrating from v0.4.x to v0.5.0](./migration.md)
-- [Migrating from RTFM to RTIC](./migration_rtic.md)
+- [Migration Guides](./migration.md)
+  - [v0.5.x to v0.6.x](./migration/migration_v5.md)
+  - [v0.4.x to v0.5.x](./migration/migration_v4.md)
+  - [RTFM to RTIC](./migration/migration_rtic.md)
 - [Under the hood](./internals.md)
   - [Interrupt configuration](./internals/interrupt-configuration.md)
   - [Non-reentrancy](./internals/non-reentrancy.md)
diff --git a/book/en/src/migration.md b/book/en/src/migration.md
index 7be30943c8..08feb81e1e 100644
--- a/book/en/src/migration.md
+++ b/book/en/src/migration.md
@@ -1,331 +1,4 @@
-# Migration of RTIC
+# Migration Guides
 
-## Migrating from v0.5.x to v0.6.0
-
-This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
-
-### `Cargo.toml` - version bump
-
-Change the version of `cortex-m-rtic` to `"0.6.0"`.
-
-### Module instead of Const
-
-With the support of attributes on modules the `const APP` workaround is not needed.
-
-Change
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-  [code here]
-};
-```
-
-into
-
-``` rust
-#[rtic::app(/* .. */)]
-mod app {
-  [code here]
-}
-```
-
-Now that a regular Rust module is used it means it is possible to have custom
-user code within that module.
-Additionally, it means that `use`-statements for resources etc may be required.
-
-### Init always returns late resources
-
-In order to make the API more symmetric the #[init]-task always returns a late resource.
-
-From this:
-
-``` rust
-#[rtic::app(device = lm3s6965)]
-mod app {
-    #[init]
-    fn init(_: init::Context) {
-        rtic::pend(Interrupt::UART0);
-    }
-    [more code]
-}
-```
-
-to this:
-
-``` rust
-#[rtic::app(device = lm3s6965)]
-mod app {
-    #[init]
-    fn init(_: init::Context) -> init::LateResources {
-        rtic::pend(Interrupt::UART0);
-
-        init::LateResources {}
-    }
-    [more code]
-}
-```
-
-### Resources struct - #[resources]
-
-Previously the RTIC resources had to be in in a struct named exactly "Resources":
-
-``` rust
-struct Resources {
-    // Resources defined in here
-}
-```
-
-With RTIC v0.6.0 the resources struct is annotated similarly like
-`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]`
-
-``` rust
-#[resources]
-struct Resources {
-    // Resources defined in here
-}
-```
-
-In fact, the name of the struct is now up to the developer:
-
-``` rust
-#[resources]
-struct whateveryouwant {
-    // Resources defined in here
-}
-```
-
-would work equally well.
-
-## Migrating from v0.4.x to v0.5.0
-
-This section covers how to upgrade an application written against RTIC v0.4.x to
-the version v0.5.0 of the framework.
-
-### `Cargo.toml`
-
-First, the version of the `cortex-m-rtic` dependency needs to be updated to
-`"0.5.0"`. The `timer-queue` feature needs to be removed.
-
-``` toml
-[dependencies.cortex-m-rtic]
-# change this
-version = "0.4.3"
-
-# into this
-version = "0.5.0"
-
-# and remove this Cargo feature
-features = ["timer-queue"]
-#           ^^^^^^^^^^^^^
-```
-
-### `Context` argument
-
-All functions inside the `#[rtic::app]` item need to take as first argument a
-`Context` structure. This `Context` type will contain the variables that were
-magically injected into the scope of the function by version v0.4.x of the
-framework: `resources`, `spawn`, `schedule` -- these variables will become
-fields of the `Context` structure. Each function within the `#[rtic::app]` item
-gets a different `Context` type.
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-    // change this
-    #[task(resources = [x], spawn = [a], schedule = [b])]
-    fn foo() {
-        resources.x.lock(|x| /* .. */);
-        spawn.a(message);
-        schedule.b(baseline);
-    }
-
-    // into this
-    #[task(resources = [x], spawn = [a], schedule = [b])]
-    fn foo(mut cx: foo::Context) {
-        // ^^^^^^^^^^^^^^^^^^^^
-
-        cx.resources.x.lock(|x| /* .. */);
-    //  ^^^
-
-        cx.spawn.a(message);
-    //  ^^^
-
-        cx.schedule.b(message, baseline);
-    //  ^^^
-    }
-
-    // change this
-    #[init]
-    fn init() {
-        // ..
-    }
-
-    // into this
-    #[init]
-    fn init(cx: init::Context) {
-        //  ^^^^^^^^^^^^^^^^^
-        // ..
-    }
-
-    // ..
-};
-```
-
-### Resources
-
-The syntax used to declare resources has been changed from `static mut`
-variables to a `struct Resources`.
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-    // change this
-    static mut X: u32 = 0;
-    static mut Y: u32 = (); // late resource
-
-    // into this
-    struct Resources {
-        #[init(0)] // <- initial value
-        X: u32, // NOTE: we suggest changing the naming style to `snake_case`
-
-        Y: u32, // late resource
-    }
-
-    // ..
-};
-```
-
-### Device peripherals
-
-If your application was accessing the device peripherals in `#[init]` through
-the `device` variable then you'll need to add `peripherals = true` to the
-`#[rtic::app]` attribute to continue to access the device peripherals through
-the `device` field of the `init::Context` structure.
-
-Change this:
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-    #[init]
-    fn init() {
-        device.SOME_PERIPHERAL.write(something);
-    }
-
-    // ..
-};
-```
-
-Into this:
-
-``` rust
-#[rtic::app(/* .. */, peripherals = true)]
-//                    ^^^^^^^^^^^^^^^^^^
-const APP: () = {
-    #[init]
-    fn init(cx: init::Context) {
-        //  ^^^^^^^^^^^^^^^^^
-        cx.device.SOME_PERIPHERAL.write(something);
-    //  ^^^
-    }
-
-    // ..
-};
-```
-
-### `#[interrupt]` and `#[exception]`
-
-The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
-hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
-
-Change this:
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-    // hardware tasks
-    #[exception]
-    fn SVCall() { /* .. */ }
-
-    #[interrupt]
-    fn UART0() { /* .. */ }
-
-    // software task
-    #[task]
-    fn foo() { /* .. */ }
-
-    // ..
-};
-```
-
-Into this:
-
-``` rust
-#[rtic::app(/* .. */)]
-const APP: () = {
-    #[task(binds = SVCall)]
-    //     ^^^^^^^^^^^^^^
-    fn svcall(cx: svcall::Context) { /* .. */ }
-    // ^^^^^^ we suggest you use a `snake_case` name here
-
-    #[task(binds = UART0)]
-    //     ^^^^^^^^^^^^^
-    fn uart0(cx: uart0::Context) { /* .. */ }
-
-    #[task]
-    fn foo(cx: foo::Context) { /* .. */ }
-
-    // ..
-};
-```
-
-### `schedule`
-
-The `timer-queue` feature has been removed. To use the `schedule` API one must
-first define the monotonic timer the runtime will use using the `monotonic`
-argument of the `#[rtic::app]` attribute. To continue using the cycle counter
-(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
-the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
-
-Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
-into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
-devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
-inside the core peripherals struct, this will need to be enabled by the application
-inside `init`.
-
-Change this:
-
-``` rust
-use rtic::{Duration, Instant, U32Ext};
-
-#[rtic::app(/* .. */)]
-const APP: () = {
-    #[task(schedule = [b])]
-    fn a() {
-        // ..
-    }
-};
-```
-
-Into this:
-
-``` rust
-use rtic::cyccnt::{Duration, Instant, U32Ext};
-//        ^^^^^^^^
-
-#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)]
-//                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-const APP: () = {
-    #[init]
-    fn init(cx: init::Context) {
-        cx.core.DWT.enable_cycle_counter();
-        // optional, configure the DWT run without a debugger connected
-        cx.core.DCB.enable_trace();
-    }
-    #[task(schedule = [b])]
-    fn a(cx: a::Context) {
-        // ..
-    }
-};
-```
+This section describes how to migrate between different version of RTIC.
+It also acts as a comparing reference between versions.
diff --git a/book/en/src/migration_rtic.md b/book/en/src/migration/migration_rtic.md
similarity index 100%
rename from book/en/src/migration_rtic.md
rename to book/en/src/migration/migration_rtic.md
diff --git a/book/en/src/migration/migration_v4.md b/book/en/src/migration/migration_v4.md
new file mode 100644
index 0000000000..2c4e3ade6f
--- /dev/null
+++ b/book/en/src/migration/migration_v4.md
@@ -0,0 +1,232 @@
+# Migrating from v0.4.x to v0.5.0
+
+This section covers how to upgrade an application written against RTIC v0.4.x to
+the version v0.5.0 of the framework.
+
+### `Cargo.toml`
+
+First, the version of the `cortex-m-rtic` dependency needs to be updated to
+`"0.5.0"`. The `timer-queue` feature needs to be removed.
+
+``` toml
+[dependencies.cortex-m-rtic]
+# change this
+version = "0.4.3"
+
+# into this
+version = "0.5.0"
+
+# and remove this Cargo feature
+features = ["timer-queue"]
+#           ^^^^^^^^^^^^^
+```
+
+### `Context` argument
+
+All functions inside the `#[rtic::app]` item need to take as first argument a
+`Context` structure. This `Context` type will contain the variables that were
+magically injected into the scope of the function by version v0.4.x of the
+framework: `resources`, `spawn`, `schedule` -- these variables will become
+fields of the `Context` structure. Each function within the `#[rtic::app]` item
+gets a different `Context` type.
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+    // change this
+    #[task(resources = [x], spawn = [a], schedule = [b])]
+    fn foo() {
+        resources.x.lock(|x| /* .. */);
+        spawn.a(message);
+        schedule.b(baseline);
+    }
+
+    // into this
+    #[task(resources = [x], spawn = [a], schedule = [b])]
+    fn foo(mut cx: foo::Context) {
+        // ^^^^^^^^^^^^^^^^^^^^
+
+        cx.resources.x.lock(|x| /* .. */);
+    //  ^^^
+
+        cx.spawn.a(message);
+    //  ^^^
+
+        cx.schedule.b(message, baseline);
+    //  ^^^
+    }
+
+    // change this
+    #[init]
+    fn init() {
+        // ..
+    }
+
+    // into this
+    #[init]
+    fn init(cx: init::Context) {
+        //  ^^^^^^^^^^^^^^^^^
+        // ..
+    }
+
+    // ..
+};
+```
+
+### Resources
+
+The syntax used to declare resources has been changed from `static mut`
+variables to a `struct Resources`.
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+    // change this
+    static mut X: u32 = 0;
+    static mut Y: u32 = (); // late resource
+
+    // into this
+    struct Resources {
+        #[init(0)] // <- initial value
+        X: u32, // NOTE: we suggest changing the naming style to `snake_case`
+
+        Y: u32, // late resource
+    }
+
+    // ..
+};
+```
+
+### Device peripherals
+
+If your application was accessing the device peripherals in `#[init]` through
+the `device` variable then you'll need to add `peripherals = true` to the
+`#[rtic::app]` attribute to continue to access the device peripherals through
+the `device` field of the `init::Context` structure.
+
+Change this:
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+    #[init]
+    fn init() {
+        device.SOME_PERIPHERAL.write(something);
+    }
+
+    // ..
+};
+```
+
+Into this:
+
+``` rust
+#[rtic::app(/* .. */, peripherals = true)]
+//                    ^^^^^^^^^^^^^^^^^^
+const APP: () = {
+    #[init]
+    fn init(cx: init::Context) {
+        //  ^^^^^^^^^^^^^^^^^
+        cx.device.SOME_PERIPHERAL.write(something);
+    //  ^^^
+    }
+
+    // ..
+};
+```
+
+### `#[interrupt]` and `#[exception]`
+
+The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
+hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
+
+Change this:
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+    // hardware tasks
+    #[exception]
+    fn SVCall() { /* .. */ }
+
+    #[interrupt]
+    fn UART0() { /* .. */ }
+
+    // software task
+    #[task]
+    fn foo() { /* .. */ }
+
+    // ..
+};
+```
+
+Into this:
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+    #[task(binds = SVCall)]
+    //     ^^^^^^^^^^^^^^
+    fn svcall(cx: svcall::Context) { /* .. */ }
+    // ^^^^^^ we suggest you use a `snake_case` name here
+
+    #[task(binds = UART0)]
+    //     ^^^^^^^^^^^^^
+    fn uart0(cx: uart0::Context) { /* .. */ }
+
+    #[task]
+    fn foo(cx: foo::Context) { /* .. */ }
+
+    // ..
+};
+```
+
+### `schedule`
+
+The `timer-queue` feature has been removed. To use the `schedule` API one must
+first define the monotonic timer the runtime will use using the `monotonic`
+argument of the `#[rtic::app]` attribute. To continue using the cycle counter
+(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
+the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
+
+Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
+into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
+devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
+inside the core peripherals struct, this will need to be enabled by the application
+inside `init`.
+
+Change this:
+
+``` rust
+use rtic::{Duration, Instant, U32Ext};
+
+#[rtic::app(/* .. */)]
+const APP: () = {
+    #[task(schedule = [b])]
+    fn a() {
+        // ..
+    }
+};
+```
+
+Into this:
+
+``` rust
+use rtic::cyccnt::{Duration, Instant, U32Ext};
+//        ^^^^^^^^
+
+#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)]
+//                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+const APP: () = {
+    #[init]
+    fn init(cx: init::Context) {
+        cx.core.DWT.enable_cycle_counter();
+        // optional, configure the DWT run without a debugger connected
+        cx.core.DCB.enable_trace();
+    }
+    #[task(schedule = [b])]
+    fn a(cx: a::Context) {
+        // ..
+    }
+};
+```
diff --git a/book/en/src/migration/migration_v5.md b/book/en/src/migration/migration_v5.md
new file mode 100644
index 0000000000..749ddecdba
--- /dev/null
+++ b/book/en/src/migration/migration_v5.md
@@ -0,0 +1,96 @@
+# Migrating from v0.5.x to v0.6.0
+
+This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
+
+### `Cargo.toml` - version bump
+
+Change the version of `cortex-m-rtic` to `"0.6.0"`.
+
+### Module instead of Const
+
+With the support of attributes on modules the `const APP` workaround is not needed.
+
+Change
+
+``` rust
+#[rtic::app(/* .. */)]
+const APP: () = {
+  [code here]
+};
+```
+
+into
+
+``` rust
+#[rtic::app(/* .. */)]
+mod app {
+  [code here]
+}
+```
+
+Now that a regular Rust module is used it means it is possible to have custom
+user code within that module.
+Additionally, it means that `use`-statements for resources etc may be required.
+
+### Init always returns late resources
+
+In order to make the API more symmetric the #[init]-task always returns a late resource.
+
+From this:
+
+``` rust
+#[rtic::app(device = lm3s6965)]
+mod app {
+    #[init]
+    fn init(_: init::Context) {
+        rtic::pend(Interrupt::UART0);
+    }
+    [more code]
+}
+```
+
+to this:
+
+``` rust
+#[rtic::app(device = lm3s6965)]
+mod app {
+    #[init]
+    fn init(_: init::Context) -> init::LateResources {
+        rtic::pend(Interrupt::UART0);
+
+        init::LateResources {}
+    }
+    [more code]
+}
+```
+
+### Resources struct - #[resources]
+
+Previously the RTIC resources had to be in in a struct named exactly "Resources":
+
+``` rust
+struct Resources {
+    // Resources defined in here
+}
+```
+
+With RTIC v0.6.0 the resources struct is annotated similarly like
+`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]`
+
+``` rust
+#[resources]
+struct Resources {
+    // Resources defined in here
+}
+```
+
+In fact, the name of the struct is now up to the developer:
+
+``` rust
+#[resources]
+struct whateveryouwant {
+    // Resources defined in here
+}
+```
+
+would work equally well.

From a091727e374dd20b1bc0cb3c0b95a92c2b09afc4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Tue, 6 Oct 2020 18:04:22 +0000
Subject: [PATCH 18/20] Restore links to docs

---
 README.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/README.md b/README.md
index 3b3a471661..18f968dbb2 100644
--- a/README.md
+++ b/README.md
@@ -50,6 +50,10 @@ Formerly known as Real-Time For the Masses.
 
 - Applications must be written using the 2018 edition.
 
+## [User documentation](https://rtic.rs)
+
+## [API reference](https://rtic.rs/0.5/api/)
+
 ## Chat
 Join us and talk about RTIC in the [Matrix room][matrix-room].
 

From f229d2e97fcb8444c1471d0e04e0e17abf4a7db3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Tue, 6 Oct 2020 18:48:37 +0000
Subject: [PATCH 19/20] Fix MD-lints, add Matrix and  meeting notes badges

---
 README.md | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 18f968dbb2..929a813c20 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,9 @@ Formerly known as Real-Time For the Masses.
 [![crates.io](https://img.shields.io/crates/v/cortex-m-rtic)](https://crates.io/crates/cortex-m-rtic)
 [![docs.rs](https://docs.rs/cortex-m-rtic/badge.svg)](https://docs.rs/cortex-m-rtic)
 [![book](https://img.shields.io/badge/web-rtic.rs-red.svg?style=flat&label=book&colorB=d33847)](https://rtic.rs/)
-![rustc](https://img.shields.io/badge/rustc-1.36+-lightgray.svg)
+[![rustc](https://img.shields.io/badge/rustc-1.36+-lightgray.svg)](https://github.com/rust-lang/rust/releases/tag/1.36.0)
+[![matrix](https://img.shields.io/matrix/rtic:matrix.org)](https://matrix.to/#/#rtic:matrix.org)
+[![Meeting notes](https://hackmd.io/badge.svg)](https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH)
 
 ## Features
 
@@ -52,23 +54,29 @@ Formerly known as Real-Time For the Masses.
 
 ## [User documentation](https://rtic.rs)
 
-## [API reference](https://rtic.rs/0.5/api/)
+## [API reference](https://rtic.rs/stable/api/)
 
 ## Chat
+
 Join us and talk about RTIC in the [Matrix room][matrix-room].
 
+Weekly meeting notes can be found over at [HackMD][hackmd]
+
 [matrix-room]: https://matrix.to/#/#rtic:matrix.org
+[hackmd]: https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH
 
 ## Contributing
-New features and big changes should go through the RFC process in the [dedicated RFC repository][rfcs].
+
+New features and big changes should go through the RFC process in the
+[dedicated RFC repository][rfcs].
 
 [rfcs]: https://github.com/rtic-rs/rfcs
 
 ## Acknowledgments
 
-This crate is based on [the Real-Time For the Masses language][rtfm-lang] created by the Embedded
-Systems group at [Luleå University of Technology][ltu], led by [Prof. Per
-Lindgren][per].
+This crate is based on [the Real-Time For the Masses language][rtfm-lang]
+created by the Embedded Systems group at [Luleå University of Technology][ltu],
+led by [Prof. Per Lindgren][per].
 
 [rtfm-lang]: http://www.rtfm-lang.org/
 [ltu]: https://www.ltu.se/?l=en

From 987332b831761a681ec5cdda192ead524438df77 Mon Sep 17 00:00:00 2001
From: Daniel Carosone <Daniel.Carosone@gmail.com>
Date: Wed, 7 Oct 2020 09:31:30 +1100
Subject: [PATCH 20/20] minor md lints and wording clarification

---
 book/en/src/migration/migration_v4.md | 15 ++++++++-------
 book/en/src/migration/migration_v5.md |  8 ++++----
 2 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/book/en/src/migration/migration_v4.md b/book/en/src/migration/migration_v4.md
index 2c4e3ade6f..ac59d8c9fb 100644
--- a/book/en/src/migration/migration_v4.md
+++ b/book/en/src/migration/migration_v4.md
@@ -3,7 +3,7 @@
 This section covers how to upgrade an application written against RTIC v0.4.x to
 the version v0.5.0 of the framework.
 
-### `Cargo.toml`
+## `Cargo.toml`
 
 First, the version of the `cortex-m-rtic` dependency needs to be updated to
 `"0.5.0"`. The `timer-queue` feature needs to be removed.
@@ -21,7 +21,7 @@ features = ["timer-queue"]
 #           ^^^^^^^^^^^^^
 ```
 
-### `Context` argument
+## `Context` argument
 
 All functions inside the `#[rtic::app]` item need to take as first argument a
 `Context` structure. This `Context` type will contain the variables that were
@@ -73,7 +73,7 @@ const APP: () = {
 };
 ```
 
-### Resources
+## Resources
 
 The syntax used to declare resources has been changed from `static mut`
 variables to a `struct Resources`.
@@ -97,7 +97,7 @@ const APP: () = {
 };
 ```
 
-### Device peripherals
+## Device peripherals
 
 If your application was accessing the device peripherals in `#[init]` through
 the `device` variable then you'll need to add `peripherals = true` to the
@@ -135,7 +135,7 @@ const APP: () = {
 };
 ```
 
-### `#[interrupt]` and `#[exception]`
+## `#[interrupt]` and `#[exception]`
 
 The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
 hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
@@ -181,9 +181,10 @@ const APP: () = {
 };
 ```
 
-### `schedule`
+## `schedule`
 
-The `timer-queue` feature has been removed. To use the `schedule` API one must
+The `schedule` API no longer requires the `timer-queue` cargo feature, which has
+been removed. To use the `schedule` API one must
 first define the monotonic timer the runtime will use using the `monotonic`
 argument of the `#[rtic::app]` attribute. To continue using the cycle counter
 (CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
diff --git a/book/en/src/migration/migration_v5.md b/book/en/src/migration/migration_v5.md
index 749ddecdba..1d83444e09 100644
--- a/book/en/src/migration/migration_v5.md
+++ b/book/en/src/migration/migration_v5.md
@@ -2,11 +2,11 @@
 
 This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
 
-### `Cargo.toml` - version bump
+## `Cargo.toml` - version bump
 
 Change the version of `cortex-m-rtic` to `"0.6.0"`.
 
-### Module instead of Const
+## Module instead of Const
 
 With the support of attributes on modules the `const APP` workaround is not needed.
 
@@ -32,7 +32,7 @@ Now that a regular Rust module is used it means it is possible to have custom
 user code within that module.
 Additionally, it means that `use`-statements for resources etc may be required.
 
-### Init always returns late resources
+## Init always returns late resources
 
 In order to make the API more symmetric the #[init]-task always returns a late resource.
 
@@ -64,7 +64,7 @@ mod app {
 }
 ```
 
-### Resources struct - #[resources]
+## Resources struct - #[resources]
 
 Previously the RTIC resources had to be in in a struct named exactly "Resources":