Merge #436v0.6.0-alpha.1

436: New monotonic r=AfoHT a=korken89

Design document: https://hackmd.io/vWa9GvssR8qBfUYgMZm0CQ

Closes #433 
Closes #432
Closes #427
Closes #426 
Closes #403
Closes #332
Closes #312 
Closes #309 
Closes #299 
Closes #292
Closes #247
Closes #219

Co-authored-by: Emil Fresk <emil.fresk@gmail.com>

1 files changed, 14 insertions, 7 deletions

diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 9cb5f7a9..a39fe4cc 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -37,6 +37,7 @@ pub fn codegen(
 
         // Create free queues and inputs / instants buffers
         let fq = util::fq_ident(name);
+        let fq = util::mark_internal_ident(&fq);
 
         let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
             (
@@ -48,8 +49,9 @@ pub fn codegen(
             )
         };
         mod_app.push(quote!(
-            /// Queue version of a free-list that keeps track of empty slots in
-            /// the following buffers
+            // /// Queue version of a free-list that keeps track of empty slots in
+            // /// the following buffers
+            #[doc(hidden)]
             static mut #fq: #fq_ty = #fq_expr;
         ));
 
@@ -57,24 +59,29 @@ pub fn codegen(
             .map(|_| quote!(core::mem::MaybeUninit::uninit()))
             .collect::<Vec<_>>();
 
-        if let Some(m) = &extra.monotonic {
-            let instants = util::instants_ident(name);
+        for (_, monotonic) in &app.monotonics {
+            let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+            let instants = util::mark_internal_ident(&instants);
+            let mono_type = &monotonic.ty;
 
             let uninit = mk_uninit();
             mod_app.push(quote!(
                 #uninit
-                /// Buffer that holds the instants associated to the inputs of a task
+                // /// Buffer that holds the instants associated to the inputs of a task
+                #[doc(hidden)]
                 static mut #instants:
-                    [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
+                    [core::mem::MaybeUninit<rtic::time::Instant<#mono_type>>; #cap_lit] =
                     [#(#elems,)*];
             ));
         }
 
         let uninit = mk_uninit();
         let inputs_ident = util::inputs_ident(name);
+        let inputs_ident = util::mark_internal_ident(&inputs_ident);
         mod_app.push(quote!(
             #uninit
-            /// Buffer that holds the inputs of a task
+            // /// Buffer that holds the inputs of a task
+            #[doc(hidden)]
             static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
                 [#(#elems,)*];
         ));