Minimal app now compiles

13 files changed, 276 insertions, 345 deletions

diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index dfa52d5d..1c311954 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -76,11 +76,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 let inputs = util::mark_internal_ident(&inputs);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
 
-                let locals_new = if task.args.local_resources.is_empty() {
-                    quote!()
-                } else {
-                    quote!(#name::Locals::new(),)
-                };
+                // TODO Fix me
+                // let locals_new = if task.args.local_resources.is_empty() {
+                //     quote!()
+                // } else {
+                //     quote!(#name::Locals::new(),)
+                // };
 
                 quote!(
                     #(#cfgs)*
@@ -94,7 +95,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                         #fq.get_mut_unchecked().split().0.enqueue_unchecked(index);
                         let priority = &rtic::export::Priority::new(PRIORITY);
                         #name(
-                            #locals_new
                             #name::Context::new(priority)
                             #(,#pats)*
                         )
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index adeea781..a69f9c9b 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -5,7 +5,7 @@ use rtic_syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
     check::Extra,
-    codegen::{locals, module, resources_struct},
+    codegen::{local_resources_struct, module, shared_resources_struct},
 };
 
 /// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
@@ -29,11 +29,12 @@ pub fn codegen(
     let mut user_tasks = vec![];
 
     for (name, task) in &app.hardware_tasks {
-        let locals_new = if task.args.local_resources.is_empty() {
-            quote!()
-        } else {
-            quote!(#name::Locals::new(),)
-        };
+        // TODO: Fix locals
+        // let locals_new = if task.args.local_resources.is_empty() {
+        //     quote!()
+        // } else {
+        //     quote!(#name::Locals::new(),)
+        // };
 
         let symbol = task.args.binds.clone();
         let priority = task.args.priority;
@@ -50,7 +51,6 @@ pub fn codegen(
 
                 rtic::export::run(PRIORITY, || {
                     #name(
-                        #locals_new
                         #name::Context::new(&rtic::export::Priority::new(PRIORITY))
                     )
                 });
@@ -59,10 +59,21 @@ pub fn codegen(
 
         let mut needs_lt = false;
 
+        // TODO: Fix locals
+        // `${task}Locals`
+        if !task.args.local_resources.is_empty() {
+            let (item, constructor) =
+                local_resources_struct::codegen(Context::HardwareTask(name), &mut needs_lt, app);
+
+            root.push(item);
+
+            mod_app.push(constructor);
+        }
+
         // `${task}Resources`
         if !task.args.shared_resources.is_empty() {
             let (item, constructor) =
-                resources_struct::codegen(Context::HardwareTask(name), &mut needs_lt, app);
+                shared_resources_struct::codegen(Context::HardwareTask(name), &mut needs_lt, app);
 
             root.push(item);
 
@@ -77,24 +88,25 @@ pub fn codegen(
             extra,
         ));
 
-        // `${task}Locals`
-        let mut locals_pat = None;
-        if !task.locals.is_empty() {
-            let (struct_, pat) = locals::codegen(Context::HardwareTask(name), &task.locals, app);
+        // TODO: Fix locals
+        // // `${task}Locals`
+        // let mut locals_pat = None;
+        // if !task.locals.is_empty() {
+        //     let (struct_, pat) =
+        //         local_resources_struct::codegen(Context::HardwareTask(name), &task.locals, app);
 
-            root.push(struct_);
-            locals_pat = Some(pat);
-        }
+        //     root.push(struct_);
+        //     locals_pat = Some(pat);
+        // }
 
-        if !&task.is_extern {
+        if !task.is_extern {
             let attrs = &task.attrs;
             let context = &task.context;
             let stmts = &task.stmts;
-            let locals_pat = locals_pat.iter();
             user_tasks.push(quote!(
                 #(#attrs)*
                 #[allow(non_snake_case)]
-                fn #name(#(#locals_pat,)* #context: #name::Context) {
+                fn #name(#context: #name::Context) {
                     use rtic::Mutex as _;
                     use rtic::mutex_prelude::*;
 
diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs
index 4bc41c13..9c8a5f76 100644
--- a/macros/src/codegen/idle.rs
+++ b/macros/src/codegen/idle.rs
@@ -5,7 +5,7 @@ use rtic_syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
     check::Extra,
-    codegen::{locals, module, resources_struct},
+    codegen::{local_resources_struct, module, shared_resources_struct},
 };
 
 /// Generates support code for `#[idle]` functions
@@ -26,30 +26,28 @@ pub fn codegen(
     // call_idle
     TokenStream2,
 ) {
-    if !app.idles.is_empty() {
-        let idle = &app.idles.first().unwrap();
+    if let Some(idle) = &app.idle {
         let mut needs_lt = false;
         let mut mod_app = None;
         let mut root_idle = vec![];
-        let mut locals_pat = None;
-        let mut locals_new = None;
 
         let name = &idle.name;
 
-        if !idle.args.resources.is_empty() {
-            let (item, constructor) = resources_struct::codegen(Context::Idle, &mut needs_lt, app);
+        if !idle.args.shared_resources.is_empty() {
+            let (item, constructor) = shared_resources_struct::codegen(Context::Idle, &mut needs_lt, app);
 
             root_idle.push(item);
             mod_app = Some(constructor);
         }
 
-        if !idle.locals.is_empty() {
-            let (locals, pat) = locals::codegen(Context::Idle, &idle.locals, app);
+        // TODO: Fix locals
+        // if !idle.locals.is_empty() {
+        //     let (locals, pat) = locals::codegen(Context::Idle, &idle.locals, app);
 
-            locals_new = Some(quote!(#name::Locals::new()));
-            locals_pat = Some(pat);
-            root_idle.push(locals);
-        }
+        //     locals_new = Some(quote!(#name::Locals::new()));
+        //     locals_pat = Some(pat);
+        //     root_idle.push(locals);
+        // }
 
         root_idle.push(module::codegen(
             Context::Idle,
@@ -62,11 +60,10 @@ pub fn codegen(
         let attrs = &idle.attrs;
         let context = &idle.context;
         let stmts = &idle.stmts;
-        let locals_pat = locals_pat.iter();
         let user_idle = Some(quote!(
             #(#attrs)*
             #[allow(non_snake_case)]
-            fn #name(#(#locals_pat,)* #context: #name::Context) -> ! {
+            fn #name(#context: #name::Context) -> ! {
                 use rtic::Mutex as _;
                 use rtic::mutex_prelude::*;
 
@@ -74,9 +71,7 @@ pub fn codegen(
             }
         ));
 
-        let locals_new = locals_new.iter();
         let call_idle = quote!(#name(
-            #(#locals_new,)*
             #name::Context::new(&rtic::export::Priority::new(0))
         ));
 
diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index fe8a1263..e3f74086 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -5,7 +5,7 @@ use rtic_syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
     check::Extra,
-    codegen::{locals, module, resources_struct},
+    codegen::{local_resources_struct, module},
 };
 
 type CodegenResult = (
@@ -18,68 +18,96 @@ type CodegenResult = (
     // - the `${init}` module, which contains types like `${init}::Context`
     Vec<TokenStream2>,
     // user_init -- the `#[init]` function written by the user
-    Option<TokenStream2>,
-    // call_init -- the call to the user `#[init]` if there's one
-    Option<TokenStream2>,
+    TokenStream2,
+    // call_init -- the call to the user `#[init]`
+    TokenStream2,
 );
 
 /// Generates support code for `#[init]` functions
 pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
-    if !app.inits.is_empty() {
-        let init = &app.inits.first().unwrap();
-        let mut needs_lt = false;
-        let name = &init.name;
+    let init = &app.init;
+    let mut needs_lt = false;
+    let name = &init.name;
 
-        let mut root_init = vec![];
+    let mut root_init = vec![];
 
-        let mut locals_pat = None;
-        let mut locals_new = None;
-        if !init.locals.is_empty() {
-            let (struct_, pat) = locals::codegen(Context::Init, &init.locals, app);
+    // TODO: Fix locals
+    // let mut locals_pat = None;
+    // let mut locals_new = None;
+    // if !init.locals.is_empty() {
+    //     let (struct_, pat) = locals::codegen(Context::Init, &init.locals, app);
 
-            locals_new = Some(quote!(#name::Locals::new()));
-            locals_pat = Some(pat);
-            root_init.push(struct_);
-        }
+    //     locals_new = Some(quote!(#name::Locals::new()));
+    //     locals_pat = Some(pat);
+    //     root_init.push(struct_);
+    // }
 
-        let context = &init.context;
-        let attrs = &init.attrs;
-        let stmts = &init.stmts;
-        let locals_pat = locals_pat.iter();
+    let context = &init.context;
+    let attrs = &init.attrs;
+    let stmts = &init.stmts;
+    let shared = &init.user_shared_struct;
+    let local = &init.user_local_struct;
 
-        let user_init_return = quote! {#name::LateResources, #name::Monotonics};
+    let shared_resources: Vec<_> = app
+        .shared_resources
+        .iter()
+        .map(|(k, v)| {
+            let ty = &v.ty;
+            let cfgs = &v.cfgs;
+            quote!(
+                #(#cfgs)*
+                #k: #ty,
+            )
+        })
+        .collect();
+    let local_resources: Vec<_> = app
+        .local_resources
+        .iter()
+        .map(|(k, v)| {
+            let ty = &v.ty;
+            let cfgs = &v.cfgs;
+            quote!(
+                #(#cfgs)*
+                #k: #ty,
+            )
+        })
+        .collect();
+    root_init.push(quote! {
+        struct #shared {
+            #(#shared_resources)*
+        }
 
-        let user_init = Some(quote!(
-            #(#attrs)*
-            #[allow(non_snake_case)]
-            fn #name(#(#locals_pat,)* #context: #name::Context) -> (#user_init_return) {
-                #(#stmts)*
-            }
-        ));
+        struct #local {
+            #(#local_resources)*
+        }
+    });
 
-        let mut mod_app = None;
-        if !init.args.resources.is_empty() {
-            let (item, constructor) = resources_struct::codegen(Context::Init, &mut needs_lt, app);
+    // let locals_pat = locals_pat.iter();
 
-            root_init.push(item);
-            mod_app = Some(constructor);
+    let user_init_return = quote! {#shared, #local, #name::Monotonics};
+
+    let user_init = quote!(
+        #(#attrs)*
+        #[allow(non_snake_case)]
+        fn #name(#context: #name::Context) -> (#user_init_return) {
+            #(#stmts)*
         }
+    );
+
+    let mut mod_app = None;
+
+    // let locals_new = locals_new.iter();
+    let call_init = quote! {
+        let (shared_resources, local_resources, mut monotonics) = #name(#name::Context::new(core.into()));
+    };
+
+    root_init.push(module::codegen(
+        Context::Init,
+        needs_lt,
+        app,
+        analysis,
+        extra,
+    ));
 
-        let locals_new = locals_new.iter();
-        let call_init = Some(
-            quote!(let (late, mut monotonics) = #name(#(#locals_new,)* #name::Context::new(core.into()));),
-        );
-
-        root_init.push(module::codegen(
-            Context::Init,
-            needs_lt,
-            app,
-            analysis,
-            extra,
-        ));
-
-        (mod_app, root_init, user_init, call_init)
-    } else {
-        (None, vec![], None, None)
-    }
+    (mod_app, root_init, user_init, call_init)
 }
diff --git a/macros/src/codegen/local_resources.rs b/macros/src/codegen/local_resources.rs
index dd3cbb44..13891f93 100644
--- a/macros/src/codegen/local_resources.rs
+++ b/macros/src/codegen/local_resources.rs
@@ -1,10 +1,12 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{analyze::Ownership, ast::App};
+use rtic_syntax::ast::App;
 
 use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates `local` variables and local resource proxies
+///
+/// I.e. the `static` variables and theirs proxies.
 pub fn codegen(
     app: &App,
     analysis: &Analysis,
@@ -16,131 +18,42 @@ pub fn codegen(
     TokenStream2,
 ) {
     let mut mod_app = vec![];
-    let mut mod_resources = vec![];
+    // let mut mod_resources: _ = vec![];
 
-    for (name, res) in app.local_resources {
+    // All local resources declared in the `#[local]' struct
+    for (name, res) in &app.local_resources {
         // let expr = &res.expr; // TODO: Extract from tasks???...
         let cfgs = &res.cfgs;
         let ty = &res.ty;
-        let mangled_name = util::mark_internal_ident(&name);
+        let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
 
-        {
-            // late resources in `util::link_section_uninit`
-            let section = if expr.is_none() {
-                util::link_section_uninit(true)
-            } else {
-                None
-            };
+        let ty = quote!(rtic::RacyCell<core::mem::MaybeUninit<#ty>>);
+        let expr = quote!(rtic::RacyCell::new(core::mem::MaybeUninit::uninit()));
 
-            // resource type and assigned value
-            let (ty, expr) = if let Some(expr) = expr {
-                // early resource
-                (
-                    quote!(rtic::RacyCell<#ty>),
-                    quote!(rtic::RacyCell::new(#expr)),
-                )
-            } else {
-                // late resource
-                (
-                    quote!(rtic::RacyCell<core::mem::MaybeUninit<#ty>>),
-                    quote!(rtic::RacyCell::new(core::mem::MaybeUninit::uninit())),
-                )
-            };
+        let attrs = &res.attrs;
+        // late resources in `util::link_section_uninit`
+        let section = util::link_section_uninit(true);
 
-            let attrs = &res.attrs;
-
-            // For future use
-            // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
-            mod_app.push(quote!(
-                #[allow(non_upper_case_globals)]
-                // #[doc = #doc]
-                #[doc(hidden)]
-                #(#attrs)*
-                #(#cfgs)*
-                #section
-                static #mangled_name: #ty = #expr;
-            ));
-        }
-
-        let r_prop = &res.properties;
         // For future use
         // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
-
-        if !r_prop.task_local && !r_prop.lock_free {
-            mod_resources.push(quote!(
-                // #[doc = #doc]
-                #[doc(hidden)]
-                #[allow(non_camel_case_types)]
-                #(#cfgs)*
-                pub struct #name<'a> {
-                    priority: &'a Priority,
-                }
-
-                #(#cfgs)*
-                impl<'a> #name<'a> {
-                    #[inline(always)]
-                    pub unsafe fn new(priority: &'a Priority) -> Self {
-                        #name { priority }
-                    }
-
-                    #[inline(always)]
-                    pub unsafe fn priority(&self) -> &Priority {
-                        self.priority
-                    }
-                }
-            ));
-
-            let (ptr, _doc) = if expr.is_none() {
-                // late resource
-                (
-                    quote!(
-                        #(#cfgs)*
-                        #mangled_name.get_mut_unchecked().as_mut_ptr()
-                    ),
-                    "late",
-                )
-            } else {
-                // early resource
-                (
-                    quote!(
-                        #(#cfgs)*
-                        #mangled_name.get_mut_unchecked()
-                    ),
-                    "early",
-                )
-            };
-
-            let ceiling = match analysis.ownerships.get(name) {
-                Some(Ownership::Owned { priority }) => *priority,
-                Some(Ownership::CoOwned { priority }) => *priority,
-                Some(Ownership::Contended { ceiling }) => *ceiling,
-                None => 0,
-            };
-
-            // For future use
-            // let doc = format!(" RTIC internal ({} resource): {}:{}", doc, file!(), line!());
-
-            mod_app.push(util::impl_mutex(
-                extra,
-                cfgs,
-                true,
-                name,
-                quote!(#ty),
-                ceiling,
-                ptr,
-            ));
-        }
+        mod_app.push(quote!(
+            #[allow(non_upper_case_globals)]
+            // #[doc = #doc]
+            #[doc(hidden)]
+            #(#attrs)*
+            #(#cfgs)*
+            #section
+            static #mangled_name: #ty = #expr;
+        ));
     }
 
-    let mod_resources = if mod_resources.is_empty() {
-        quote!()
-    } else {
-        quote!(mod resources {
-            use rtic::export::Priority;
-
-            #(#mod_resources)*
-        })
-    };
+    // let mod_resources = if mod_resources.is_empty() {
+    //     quote!()
+    // } else {
+    //     quote!(mod local_resources {
+    //         #(#mod_resources)*
+    //     })
+    // };
 
-    (mod_app, mod_resources)
+    (mod_app, TokenStream2::new())
 }
diff --git a/macros/src/codegen/local_resources_struct.rs b/macros/src/codegen/local_resources_struct.rs
index 3016f379..14706a5b 100644
--- a/macros/src/codegen/local_resources_struct.rs
+++ b/macros/src/codegen/local_resources_struct.rs
@@ -10,7 +10,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
 
     let resources = match ctxt {
         Context::Init => &app.init.args.local_resources,
-        Context::Idle => &app.idle.unwrap().args.local_resources,
+        Context::Idle => &app.idle.as_ref().unwrap().args.local_resources,
         Context::HardwareTask(name) => &app.hardware_tasks[name].args.local_resources,
         Context::SoftwareTask(name) => &app.software_tasks[name].args.local_resources,
     };
@@ -33,7 +33,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         };
 
         let ty = &res.ty;
-        let mangled_name = util::mark_internal_ident(&name);
+        let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
 
         fields.push(quote!(
             #(#cfgs)*
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index a3d3fab2..adf64d5b 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -56,16 +56,39 @@ pub fn codegen(
         Context::SoftwareTask(_) => {}
     }
 
-    if ctxt.has_locals(app) {
-        let ident = util::locals_ident(ctxt, app);
+    // if ctxt.has_locals(app) {
+    //     let ident = util::locals_ident(ctxt, app);
+    //     module_items.push(quote!(
+    //         #[doc(inline)]
+    //         pub use super::#ident as Locals;
+    //     ));
+    // }
+
+    if ctxt.has_local_resources(app) {
+        let ident = util::local_resources_ident(ctxt, app);
+        let ident = util::mark_internal_ident(&ident);
+        let lt = if resources_tick {
+            lt = Some(quote!('a));
+            Some(quote!('a))
+        } else {
+            None
+        };
+
         module_items.push(quote!(
             #[doc(inline)]
-            pub use super::#ident as Locals;
+            pub use super::#ident as LocalResources;
+        ));
+
+        fields.push(quote!(
+            /// Local Resources this task has access to
+            pub local: #name::LocalResources<#lt>
         ));
+
+        values.push(quote!(local: #name::LocalResources::new()));
     }
 
-    if ctxt.has_resources(app) {
-        let ident = util::resources_ident(ctxt, app);
+    if ctxt.has_shared_resources(app) {
+        let ident = util::shared_resources_ident(ctxt, app);
         let ident = util::mark_internal_ident(&ident);
         let lt = if resources_tick {
             lt = Some(quote!('a));
@@ -76,12 +99,12 @@ pub fn codegen(
 
         module_items.push(quote!(
             #[doc(inline)]
-            pub use super::#ident as Resources;
+            pub use super::#ident as SharedResources;
         ));
 
         fields.push(quote!(
-            /// Resources this task has access to
-            pub resources: #name::Resources<#lt>
+            /// Shared Resources this task has access to
+            pub shared: #name::SharedResources<#lt>
         ));
 
         let priority = if ctxt.is_init() {
@@ -89,38 +112,10 @@ pub fn codegen(
         } else {
             Some(quote!(priority))
         };
-        values.push(quote!(resources: #name::Resources::new(#priority)));
+        values.push(quote!(shared: #name::SharedResources::new(#priority)));
     }
 
     if let Context::Init = ctxt {
-        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
-                    )
-                })
-            })
-            .collect::<Vec<_>>();
-
-        let internal_late_ident = util::mark_internal_name("LateResources");
-        items.push(quote!(
-            /// Resources initialized at runtime
-            #[allow(non_snake_case)]
-            pub struct #internal_late_ident {
-                #(#late_fields),*
-            }
-        ));
-        module_items.push(quote!(
-            pub use super::#internal_late_ident as LateResources;
-        ));
-
         let monotonic_types: Vec<_> = app
             .monotonics
             .iter()
diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index 78548bcd..161068d2 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -9,24 +9,39 @@ use crate::{analyze::Analysis, codegen::util};
 pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
     let mut stmts = vec![];
 
-    // Initialize late resources
-    if !analysis.late_resources.is_empty() {
-        // BTreeSet wrapped in a vector
-        for name in analysis.late_resources.first().unwrap() {
-            let mangled_name = util::mark_internal_ident(&name);
-            // If it's live
-            let cfgs = app.late_resources[name].cfgs.clone();
-            if analysis.locations.get(name).is_some() {
-                stmts.push(quote!(
-                    // We include the cfgs
-                    #(#cfgs)*
-                    // Late resource is a RacyCell<MaybeUninit<T>>
-                    // - `get_mut_unchecked` to obtain `MaybeUninit<T>`
-                    // - `as_mut_ptr` to obtain a raw pointer to `MaybeUninit<T>`
-                    // - `write` the defined value for the late resource T
-                    #mangled_name.get_mut_unchecked().as_mut_ptr().write(late.#name);
-                ));
-            }
+    // Initialize shared resources
+    for (name, res) in &app.shared_resources {
+        let mangled_name = util::mark_internal_ident(&util::static_shared_resource_ident(name));
+        // If it's live
+        let cfgs = res.cfgs.clone();
+        if analysis.shared_resource_locations.get(name).is_some() {
+            stmts.push(quote!(
+                // We include the cfgs
+                #(#cfgs)*
+                // Resource is a RacyCell<MaybeUninit<T>>
+                // - `get_mut_unchecked` to obtain `MaybeUninit<T>`
+                // - `as_mut_ptr` to obtain a raw pointer to `MaybeUninit<T>`
+                // - `write` the defined value for the late resource T
+                #mangled_name.get_mut_unchecked().as_mut_ptr().write(shared_resources.#name);
+            ));
+        }
+    }
+
+    // Initialize local resources
+    for (name, res) in &app.local_resources {
+        let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
+        // If it's live
+        let cfgs = res.cfgs.clone();
+        if analysis.local_resource_locations.get(name).is_some() {
+            stmts.push(quote!(
+                // We include the cfgs
+                #(#cfgs)*
+                // Resource is a RacyCell<MaybeUninit<T>>
+                // - `get_mut_unchecked` to obtain `MaybeUninit<T>`
+                // - `as_mut_ptr` to obtain a raw pointer to `MaybeUninit<T>`
+                // - `write` the defined value for the late resource T
+                #mangled_name.get_mut_unchecked().as_mut_ptr().write(local_resources.#name);
+            ));
         }
     }
 
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs
index 531debac..ae628f6e 100644
--- a/macros/src/codegen/pre_init.rs
+++ b/macros/src/codegen/pre_init.rs
@@ -126,7 +126,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     }
 
     // If there's no user `#[idle]` then optimize returning from interrupt handlers
-    if app.idles.is_empty() {
+    if app.idle.is_none() {
         // Set SLEEPONEXIT bit to enter sleep mode when returning from ISR
         stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);));
     }
diff --git a/macros/src/codegen/shared_resources.rs b/macros/src/codegen/shared_resources.rs
index f6d2dcb0..d6336b32 100644
--- a/macros/src/codegen/shared_resources.rs
+++ b/macros/src/codegen/shared_resources.rs
@@ -18,54 +18,31 @@ pub fn codegen(
     let mut mod_app = vec![];
     let mut mod_resources = vec![];
 
-    for (name, res) in app.shared_resources {
+    for (name, res) in &app.shared_resources {
         let cfgs = &res.cfgs;
         let ty = &res.ty;
-        let mangled_name = util::mark_internal_ident(&name);
-
-        {
-            // late resources in `util::link_section_uninit`
-            let section = if expr.is_none() {
-                util::link_section_uninit(true)
-            } else {
-                None
-            };
-
-            // resource type and assigned value
-            let (ty, expr) = if let Some(expr) = expr {
-                // early resource
-                (
-                    quote!(rtic::RacyCell<#ty>),
-                    quote!(rtic::RacyCell::new(#expr)),
-                )
-            } else {
-                // late resource
-                (
-                    quote!(rtic::RacyCell<core::mem::MaybeUninit<#ty>>),
-                    quote!(rtic::RacyCell::new(core::mem::MaybeUninit::uninit())),
-                )
-            };
+        let mangled_name = util::mark_internal_ident(&util::static_shared_resource_ident(&name));
 
-            let attrs = &res.attrs;
+        // late resources in `util::link_section_uninit`
+        let section = util::link_section_uninit(true);
+        let attrs = &res.attrs;
 
-            // For future use
-            // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
-            mod_app.push(quote!(
-                #[allow(non_upper_case_globals)]
-                // #[doc = #doc]
-                #[doc(hidden)]
-                #(#attrs)*
-                #(#cfgs)*
-                #section
-                static #mangled_name: #ty = #expr;
-            ));
-        }
+        // For future use
+        // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
+        mod_app.push(quote!(
+            #[allow(non_upper_case_globals)]
+            // #[doc = #doc]
+            #[doc(hidden)]
+            #(#attrs)*
+            #(#cfgs)*
+            #section
+            static #mangled_name: rtic::RacyCell<core::mem::MaybeUninit<#ty>> = rtic::RacyCell::new(core::mem::MaybeUninit::uninit());
+        ));
 
-        let r_prop = &res.properties;
         // For future use
         // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
 
-        if !r_prop.task_local && !r_prop.lock_free {
+        if !res.properties.lock_free {
             mod_resources.push(quote!(
                 // #[doc = #doc]
                 #[doc(hidden)]
@@ -89,25 +66,10 @@ pub fn codegen(
                 }
             ));
 
-            let (ptr, _doc) = if expr.is_none() {
-                // late resource
-                (
-                    quote!(
-                        #(#cfgs)*
-                        #mangled_name.get_mut_unchecked().as_mut_ptr()
-                    ),
-                    "late",
-                )
-            } else {
-                // early resource
-                (
-                    quote!(
-                        #(#cfgs)*
-                        #mangled_name.get_mut_unchecked()
-                    ),
-                    "early",
-                )
-            };
+            let ptr = quote!(
+                #(#cfgs)*
+                #mangled_name.get_mut_unchecked().as_mut_ptr()
+            );
 
             let ceiling = match analysis.ownerships.get(name) {
                 Some(Ownership::Owned { priority }) => *priority,
@@ -123,7 +85,7 @@ pub fn codegen(
                 extra,
                 cfgs,
                 true,
-                name,
+                &name,
                 quote!(#ty),
                 ceiling,
                 ptr,
@@ -134,7 +96,7 @@ pub fn codegen(
     let mod_resources = if mod_resources.is_empty() {
         quote!()
     } else {
-        quote!(mod resources {
+        quote!(mod shared_resources {
             use rtic::export::Priority;
 
             #(#mod_resources)*
diff --git a/macros/src/codegen/shared_resources_struct.rs b/macros/src/codegen/shared_resources_struct.rs
index 4bdc8fa1..df7f38de 100644
--- a/macros/src/codegen/shared_resources_struct.rs
+++ b/macros/src/codegen/shared_resources_struct.rs
@@ -10,7 +10,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
 
     let resources = match ctxt {
         Context::Init => unreachable!("Tried to generate shared resources struct for init"),
-        Context::Idle => &app.idle.unwrap().args.shared_resources,
+        Context::Idle => &app.idle.as_ref().unwrap().args.shared_resources,
         Context::HardwareTask(name) => &app.hardware_tasks[name].args.shared_resources,
         Context::SoftwareTask(name) => &app.software_tasks[name].args.shared_resources,
     };
@@ -48,12 +48,12 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
 
                 fields.push(quote!(
                     #(#cfgs)*
-                    pub #name: resources::#name<'a>
+                    pub #name: shared_resources::#name<'a>
                 ));
 
                 values.push(quote!(
                     #(#cfgs)*
-                    #name: resources::#name::new(priority)
+                    #name: shared_resources::#name::new(priority)
 
                 ));
 
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 0372e8ec..da594e7d 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -5,7 +5,7 @@ use rtic_syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
     check::Extra,
-    codegen::{locals, module, resources_struct, util},
+    codegen::{local_resources_struct, module, shared_resources_struct, util},
 };
 
 pub fn codegen(
@@ -91,35 +91,38 @@ pub fn codegen(
 
         // `${task}Resources`
         let mut needs_lt = false;
-        if !task.args.resources.is_empty() {
+
+        // TODO: Fix locals
+        // `${task}Locals`
+        if !task.args.local_resources.is_empty() {
             let (item, constructor) =
-                resources_struct::codegen(Context::SoftwareTask(name), &mut needs_lt, app);
+                local_resources_struct::codegen(Context::SoftwareTask(name), &mut needs_lt, app);
 
             root.push(item);
 
             mod_app.push(constructor);
         }
 
-        // `${task}Locals`
-        let mut locals_pat = None;
-        if !task.locals.is_empty() {
-            let (struct_, pat) = locals::codegen(Context::SoftwareTask(name), &task.locals, app);
+        if !task.args.shared_resources.is_empty() {
+            let (item, constructor) =
+                shared_resources_struct::codegen(Context::SoftwareTask(name), &mut needs_lt, app);
 
-            locals_pat = Some(pat);
-            root.push(struct_);
+            root.push(item);
+
+            mod_app.push(constructor);
         }
 
+
         if !&task.is_extern {
             let context = &task.context;
             let attrs = &task.attrs;
             let cfgs = &task.cfgs;
             let stmts = &task.stmts;
-            let locals_pat = locals_pat.iter();
             user_tasks.push(quote!(
                 #(#attrs)*
                 #(#cfgs)*
                 #[allow(non_snake_case)]
-                fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
+                fn #name(#context: #name::Context #(,#inputs)*) {
                     use rtic::Mutex as _;
                     use rtic::mutex_prelude::*;
 
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 21b31411..dd0fb6d9 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -41,7 +41,7 @@ pub fn impl_mutex(
     ptr: TokenStream2,
 ) -> TokenStream2 {
     let (path, priority) = if resources_prefix {
-        (quote!(resources::#name), quote!(self.priority()))
+        (quote!(shared_resources::#name), quote!(self.priority()))
     } else {
         (quote!(#name), quote!(self.priority))
     };
@@ -167,7 +167,7 @@ pub fn link_section_uninit(empty_expr: bool) -> Option<TokenStream2> {
 pub fn locals_ident(ctxt: Context, app: &App) -> Ident {
     let mut s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.unwrap().name.to_string(),
+        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -229,7 +229,7 @@ pub fn regroup_inputs(
 pub fn shared_resources_ident(ctxt: Context, app: &App) -> Ident {
     let mut s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.unwrap().name.to_string(),
+        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -242,7 +242,7 @@ pub fn shared_resources_ident(ctxt: Context, app: &App) -> Ident {
 pub fn local_resources_ident(ctxt: Context, app: &App) -> Ident {
     let mut s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.unwrap().name.to_string(),
+        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -288,6 +288,14 @@ pub fn monotonic_ident(name: &str) -> Ident {
     Ident::new(&format!("MONOTONIC_STORAGE_{}", name), Span::call_site())
 }
 
+pub fn static_shared_resource_ident(name: &Ident) -> Ident {
+    Ident::new(&format!("shared_{}", name.to_string()), Span::call_site())
+}
+
+pub fn static_local_resource_ident(name: &Ident) -> Ident {
+    Ident::new(&format!("local_{}", name.to_string()), Span::call_site())
+}
+
 /// The name to get better RT flag errors
 pub fn rt_err_ident() -> Ident {
     Ident::new(