Now with new monotonic trait and crate

Cargo.toml

@@ -58,6 +58,7 @@ required-features = ["__v7"]
 cortex-m = "0.7.0"
 cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.0" }
 rtic-core = { git = "https://github.com/rtic-rs/rtic-core", branch = "new_monotonic" }
+rtic-monotonic = { git = "https://github.com/rtic-rs/rtic-monotonic", branch = "master" }
 #rtic-core = "0.3.1"
 heapless = "0.5.0"
 bare-metal = "1.0.0"

macros/src/codegen.rs

@@ -104,13 +104,35 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         ));
     }
 
+    let app_name = &app.name;
+    let app_path = quote! {crate::#app_name};
+
     let monotonic_imports: Vec<_> = app
         .monotonics
         .iter()
         .map(|(_, monotonic)| {
             let name = &monotonic.ident;
             let ty = &monotonic.ty;
-            quote!(pub type #name = #ty;)
+            let mangled_name = util::mangle_monotonic_type(&name.to_string());
+            let ident = util::monotonic_ident(&name.to_string());
+            quote! {
+                #[doc(hidden)]
+                pub type #mangled_name = #ty;
+
+                pub mod #name {
+                    pub fn now() -> rtic::time::Instant<#app_path::#mangled_name> {
+                        rtic::export::interrupt::free(|_| {
+                            use rtic::Monotonic as _;
+                            use rtic::time::Clock as _;
+                            if let Ok(v) = unsafe{ (&*#app_path::#ident.as_ptr()).try_now() } {
+                                v
+                            } else {
+                                unreachable!("Your monotonic is not infallible!")
+                            }
+                        })
+                    }
+                }
+            }
         })
         .collect();
 

macros/src/codegen/init.rs

@@ -69,7 +69,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
         let app_path = quote! {crate::#app_name};
         let locals_new = locals_new.iter();
         let call_init = Some(
-            quote!(let (late, monotonics) = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));),
+            quote!(let (late, mut monotonics) = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));),
         );
 
         root_init.push(module::codegen(

macros/src/codegen/module.rs

@@ -126,7 +126,7 @@ pub fn codegen(
             .monotonics
             .iter()
             .map(|(_, monotonic)| {
-                let mono = &monotonic.ident;
+                let mono = util::mangle_monotonic_type(&monotonic.ident.to_string());
                 quote! {#app_path::#mono}
             })
             .collect();
@@ -234,6 +234,7 @@ pub fn codegen(
             let tq = util::tq_ident(&monotonic.ident.to_string());
             let t = util::schedule_t_ident();
             let m = &monotonic.ident;
+            let m_mangled = util::mangle_monotonic_type(&monotonic.ident.to_string());
             let m_isr = &monotonic.args.binds;
             let enum_ = util::interrupt_ident();
 
@@ -242,9 +243,10 @@ pub fn codegen(
                 items.push(quote!(pub use #m::spawn_at;));
             }
 
-            let (unmask, pend) = if &*m_isr.to_string() == "SysTick" {
+            let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
                 (
-                    quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt()),
+                    quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(())
+                        .enable_interrupt()),
                     quote!(cortex_m::peripheral::SCB::set_pendst()),
                 )
             } else {
@@ -263,16 +265,16 @@ pub fn codegen(
                     #(,#args)*
                 ) -> Result<(), #ty>
                     where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
-                        D::T: Into<<#app_path::#m as rtic::time::Clock>::T>,
+                        D::T: Into<<#app_path::#m_mangled as rtic::time::Clock>::T>,
                 {
-                    let instant = <#app_path::#m as rtic::Monotonic>::now();
+                    let instant = #app_path::#m::now();
 
                     spawn_at(instant + duration, #(,#untupled)*)
                 }
 
                 #(#cfgs)*
                 pub fn spawn_at(
-                    instant: rtic::time::Instant<#app_path::#m>
+                    instant: rtic::time::Instant<#app_path::#m_mangled>
                     #(,#args)*
                 ) -> Result<(), #ty> {
                     unsafe {
@@ -296,7 +298,7 @@ pub fn codegen(
 
                             rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(
                                     nr,
-                                    || #unmask,
+                                    || #enable_interrupt,
                                     || #pend,
                             ));
 

macros/src/codegen/post_init.rs

@@ -1,6 +1,7 @@
-use proc_macro2::TokenStream as TokenStream2;
+use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
 use rtic_syntax::ast::App;
+use syn::Index;
 
 use crate::{analyze::Analysis, codegen::util};
 
@@ -25,12 +26,17 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
         }
     }
 
-    for (monotonic, _) in app.monotonics.iter() {
+    for (i, (monotonic, _)) in app.monotonics.iter().enumerate() {
-        stmts.push(quote!(#monotonic::reset();));
+        let idx = Index {
-    }
+            index: i as u32,
+            span: Span::call_site(),
+        };
+        stmts.push(quote!(monotonics.#idx.reset();));
 
-    // Forget the monotonics so they won't be dropped.
+        // Store the monotonic
-    stmts.push(quote!(core::mem::forget(monotonics);));
+        let name = util::monotonic_ident(&monotonic.to_string());
+        stmts.push(quote!(#name.as_mut_ptr().write(monotonics.#idx);));
+    }
 
     // Enable the interrupts -- this completes the `init`-ialization phase
     stmts.push(quote!(rtic::export::interrupt::enable();));

macros/src/codegen/pre_init.rs

@@ -77,14 +77,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     }
 
     // Initialize monotonic's interrupts
-    for (priority, name) in app
+    for (ident, priority, name) in app
         .monotonics
         .iter()
-        .map(|(_, monotonic)| (&monotonic.args.priority, &monotonic.args.binds))
+        .map(|(ident, monotonic)| (ident, &monotonic.args.priority, &monotonic.args.binds))
     {
         // Compile time assert that this priority is supported by the device
         stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
 
+        let app_name = &app.name;
+        let app_path = quote! {crate::#app_name};
+        let mono_type = util::mangle_monotonic_type(&ident.to_string());
 
         if &*name.to_string() == "SysTick" {
             stmts.push(quote!(
@@ -92,6 +95,12 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     rtic::export::SystemHandler::SysTick,
                     rtic::export::logical2hw(#priority, #nvic_prio_bits),
                 );
+
+                // Always enable monotonic interrupts if they should never be off
+                if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+                    core::mem::transmute::<_, cortex_m::peripheral::SYST>(())
+                        .enable_interrupt();
+                }
             ));
         } else {
             // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
@@ -101,10 +110,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     #rt_err::#interrupt::#name,
                     rtic::export::logical2hw(#priority, #nvic_prio_bits),
                 );
+
+                // Always enable monotonic interrupts if they should never be off
+                if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+                    rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#name);
+                }
             ));
         }
-
-        // NOTE we do not unmask the interrupt as this is part of the monotonic to keep track of
     }
 
     // If there's no user `#[idle]` then optimize returning from interrupt handlers

macros/src/codegen/software_tasks.rs

@@ -62,7 +62,7 @@ pub fn codegen(
 
         for (_, monotonic) in &app.monotonics {
             let instants = util::monotonic_instants_ident(name, &monotonic.ident);
-            let m = &monotonic.ident;
+            let m = util::mangle_monotonic_type(&monotonic.ident.to_string());
 
             let uninit = mk_uninit();
             mod_app.push(quote!(

macros/src/codegen/timer_queue.rs

@@ -42,7 +42,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         let monotonic_name = monotonic.ident.to_string();
         let tq = util::tq_ident(&monotonic_name);
         let t = util::schedule_t_ident();
-        let m = &monotonic.ident;
+        let m = util::mangle_monotonic_type(&monotonic_name);
+        let m_ident = util::monotonic_ident(&monotonic_name);
+        let app_name = &app.name;
+        let app_path = quote! {crate::#app_name};
 
         // Static variables and resource proxy
         {
@@ -63,6 +66,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     )
                 );
             ));
+
+            let mono = util::monotonic_ident(&monotonic_name);
+            let doc = &format!("Storage for {}", monotonic_name);
+            let mono_ty = quote!(core::mem::MaybeUninit<#m>);
+
+            items.push(quote!(
+                #[doc = #doc]
+                static mut #mono: #mono_ty = core::mem::MaybeUninit::uninit();
+            ));
         }
 
         // Timer queue handler
@@ -100,8 +112,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .collect::<Vec<_>>();
 
             let bound_interrupt = &monotonic.args.binds;
-            let enable_isr = if &*bound_interrupt.to_string() == "SysTick" {
+            let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
-                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).enable_interrupt())
+                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt())
             } else {
                 quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
             };
@@ -111,7 +123,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[allow(non_snake_case)]
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
-                                || #enable_isr,
+                                || #disable_isr,
+                                &mut *#app_path::#m_ident.as_mut_ptr(),
                             ))
                     {
                         match task {

macros/src/codegen/util.rs

@@ -239,6 +239,16 @@ pub fn tq_ident(name: &str) -> Ident {
     Ident::new(&format!("TQ_{}", name), Span::call_site())
 }
 
+/// Generates an identifier for monotonic timer storage
+pub fn monotonic_ident(name: &str) -> Ident {
+    Ident::new(&format!("MONOTONIC_STORAGE_{}", name), Span::call_site())
+}
+
+/// Generates an identifier for monotonic timer storage
+pub fn mangle_monotonic_type(name: &str) -> Ident {
+    Ident::new(&format!("MonotonicMangled{}", name), Span::call_site())
+}
+
 /// The name to get better RT flag errors
 pub fn rt_err_ident() -> Ident {
     Ident::new(

src/export.rs

@@ -16,7 +16,7 @@ pub use cortex_m::{
 use heapless::spsc::SingleCore;
 pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
 pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
-pub use rtic_core::monotonic::Monotonic;
+pub use rtic_monotonic as monotonic;
 
 pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
 pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
@@ -116,7 +116,7 @@ where
 #[inline(always)]
 pub fn assert_monotonic<T>()
 where
-    T: Monotonic,
+    T: monotonic::Monotonic,
 {
 }
 

src/lib.rs

@@ -37,10 +37,8 @@
 
 use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
 pub use cortex_m_rtic_macros::app;
-pub use rtic_core::{
+pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex};
-    monotonic::{self, embedded_time as time, Monotonic},
+pub use rtic_monotonic::{self, embedded_time as time, Monotonic};
-    prelude as mutex_prelude, Exclusive, Mutex,
-};
 
 #[doc(hidden)]
 pub mod export;

src/tq.rs

@@ -1,4 +1,7 @@
-use crate::{time::Instant, Monotonic};
+use crate::{
+    time::{Clock, Instant},
+    Monotonic,
+};
 use core::cmp::Ordering;
 use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
 
@@ -42,7 +45,7 @@ where
             })
             .unwrap_or(true);
         if if_heap_max_greater_than_nr {
-            if is_empty {
+            if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && is_empty {
                 // mem::transmute::<_, SYST>(()).enable_interrupt();
                 enable_interrupt();
             }
@@ -61,44 +64,53 @@ where
         self.0.is_empty()
     }
 
+    #[inline]
+    fn unwrapper<T, E>(val: Result<T, E>) -> T {
+        if let Ok(v) = val {
+            v
+        } else {
+            unreachable!("Your monotonic is not infallible")
+        }
+    }
+
     /// Dequeue a task from the TimerQueue
     #[inline]
-    pub fn dequeue<F>(&mut self, disable_interrupt: F) -> Option<(Task, u8)>
+    pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)>
     where
         F: FnOnce(),
     {
-        unsafe {
+        mono.clear_compare_flag();
-            Mono::clear_compare();
 
-            if let Some(instant) = self.0.peek().map(|p| p.instant) {
+        if let Some(instant) = self.0.peek().map(|p| p.instant) {
-                if instant < Mono::now() {
+            if instant < Self::unwrapper(Clock::try_now(mono)) {
-                    // task became ready
+                // task became ready
-                    let nr = self.0.pop_unchecked();
+                let nr = unsafe { self.0.pop_unchecked() };
+
+                Some((nr.task, nr.index))
+            } else {
+                // TODO: Fix this hack...
+                // Extract the compare time.
+                mono.set_compare(*instant.duration_since_epoch().integer());
+
+                // Double check that the instant we set is really in the future, else
+                // dequeue. If the monotonic is fast enough it can happen that from the
+                // read of now to the set of the compare, the time can overflow. This is to
+                // guard against this.
+                if instant < Self::unwrapper(Clock::try_now(mono)) {
+                    let nr = unsafe { self.0.pop_unchecked() };
 
                     Some((nr.task, nr.index))
                 } else {
-                    // TODO: Fix this hack...
+                    None
-                    // Extract the compare time.
-                    Mono::set_compare(*instant.duration_since_epoch().integer());
-
-                    // Double check that the instant we set is really in the future, else
-                    // dequeue. If the monotonic is fast enough it can happen that from the
-                    // read of now to the set of the compare, the time can overflow. This is to
-                    // guard against this.
-                    if instant < Mono::now() {
-                        let nr = self.0.pop_unchecked();
-
-                        Some((nr.task, nr.index))
-                    } else {
-                        None
-                    }
                 }
-            } else {
-                // The queue is empty, disable the interrupt.
-                disable_interrupt();
-
-                None
             }
+        } else {
+            // The queue is empty, disable the interrupt.
+            if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+                disable_interrupt();
+            }
+
+            None
         }
     }
 }