Merge #390

390: Spawn and schedule from anywhere r=AfoHT a=korken89

This PR moves RTIC to the spawn and schedule from anywhere syntax.

Notable changes:
 * We do no longer support non-`Send` types.
 * Some extra code is generated as any task may spawn/schedule any task. However Rust/LLVM does a great job optimizing away non used instantiations (no real code-size difference observed).
 * Worst case priority inversion has increased, but it is now predictable.

Upsides:
 * With this we should be able to support async/await.
 * RTIC tasks can now be callbacks (spawned and scheduled).
 * RTIC tasks can be stored.

Needs the following PR to land first: https://github.com/rtic-rs/rtic-syntax/pull/34

The following now works:

```rust
#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
mod app {
    #[init]
    fn init(mut cx: init::Context) -> init::LateResources {
        // Init stuff...

        // New spawn syntax
        foo::spawn().unwrap();

        // New schedule syntax
        bar::schedule(now + 4_000_000.cycles()).unwrap();

        init::LateResources {}
    }

    #[task]
    fn foo(_: foo::Context) {}

    #[task]
    fn bar(_: bar::Context) {}

    extern "C" {
        fn SSI0();
    }
}

```

Co-authored-by: Per Lindgren <per.lindgren@ltu.se>
Co-authored-by: Emil Fresk <emil.fresk@gmail.com>

1 files changed, 2 insertions, 3 deletions

diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index 25f1df41..ebfa69b9 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -32,9 +32,7 @@ pub fn codegen(
     let mut hardware_tasks_imports = vec![];
 
     for (name, task) in &app.hardware_tasks {
-        let (let_instant, instant) = if app.uses_schedule() {
-            let m = extra.monotonic();
-
+        let (let_instant, instant) = if let Some(m) = extra.monotonic {
             (
                 Some(quote!(let instant = <#m as rtic::Monotonic>::now();)),
                 Some(quote!(, instant)),
@@ -97,6 +95,7 @@ pub fn codegen(
             Context::HardwareTask(name),
             needs_lt,
             app,
+            analysis,
             extra,
         ));