Monotonic codegen now passing compile stage

5 files changed, 37 insertions, 60 deletions

diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 01fb5119..d3adee0d 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -70,22 +70,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 let inputs = util::inputs_ident(name);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
 
-                // TODO: Fix for new monotonics
-                // let (let_instant, instant) = if extra.monotonic.is_some() {
-                //     let instants = util::instants_ident(name);
-
-                //     (
-                //         quote!(
-                //             let instant =
-                //                 #instants.get_unchecked(usize::from(index)).as_ptr().read();
-                //         ),
-                //         quote!(, instant),
-                //     )
-                // } else {
-                //     (quote!(), quote!())
-                // };
-                let (let_instant, instant) = (quote!(), quote!());
-
                 let locals_new = if task.locals.is_empty() {
                     quote!()
                 } else {
@@ -99,12 +83,11 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     #t::#name => {
                         let #tupled =
                             #inputs.get_unchecked(usize::from(index)).as_ptr().read();
-                        #let_instant
                         #fq.split().0.enqueue_unchecked(index);
                         let priority = &rtic::export::Priority::new(PRIORITY);
                         #app_path::#name(
                             #locals_new
-                            #name::Context::new(priority #instant)
+                            #name::Context::new(priority)
                             #(,#pats)*
                         )
                     }
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 6dd6e9a7..0f495d97 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -18,6 +18,8 @@ pub fn codegen(
     let mut task_cfgs = vec![];
 
     let name = ctxt.ident(app);
+    let app_name = &app.name;
+    let app_path = quote! {crate::#app_name};
 
     let mut lt = None;
     match ctxt {
@@ -125,7 +127,7 @@ pub fn codegen(
             .iter()
             .map(|(_, monotonic)| {
                 let mono = &monotonic.ident;
-                quote! {#mono}
+                quote! {#app_path::#mono}
             })
             .collect();
 
@@ -190,9 +192,6 @@ pub fn codegen(
         let rq = util::rq_ident(priority);
         let inputs = util::inputs_ident(name);
 
-        let app_name = &app.name;
-        let app_path = quote! {crate::#app_name};
-
         let device = &extra.device;
         let enum_ = util::interrupt_ident();
         let interrupt = &analysis
@@ -234,11 +233,13 @@ pub fn codegen(
 
         // Schedule caller
         for (_, monotonic) in &app.monotonics {
-            let instants = util::instants_ident(name);
+            let instants = util::monotonic_instants_ident(name, &monotonic.ident);
 
             let tq = util::tq_ident(&monotonic.ident.to_string());
             let t = util::schedule_t_ident();
             let m = &monotonic.ident;
+            let m_isr = &monotonic.args.binds;
+            let enum_ = util::interrupt_ident();
 
             if monotonic.args.default {
                 items.push(quote!(pub use #m::spawn_after;));
@@ -259,7 +260,7 @@ pub fn codegen(
 
                 #(#cfgs)*
                 pub fn spawn_at(
-                    instant: Instant<#app_path::#m as rtic::Monotonic>
+                    instant: rtic::Instant<#app_path::#m>
                     #(,#args)*
                 ) -> Result<(), #ty> {
                     unsafe {
@@ -284,9 +285,11 @@ pub fn codegen(
                                 task: #app_path::#t::#name,
                             };
 
-                            rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr));
-
-                            // TODO: After adding the scheduled task, check and setup the timer.
+                            rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(
+                                    nr,
+                                    || rtic::export::NVIC::unmask(#app_path::you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#m_isr),
+                                    || rtic::pend(#app_path::you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#m_isr),
+                            ));
 
                             Ok(())
                         } else {
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 7b884ead..ebe7bdf4 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -57,19 +57,22 @@ pub fn codegen(
             .map(|_| quote!(core::mem::MaybeUninit::uninit()))
             .collect::<Vec<_>>();
 
-        // TODO: Update for new monotonic
-        // if let Some(m) = &extra.monotonic {
-        //     let instants = util::instants_ident(name);
-
-        //     let uninit = mk_uninit();
-        //     mod_app.push(quote!(
-        //         #uninit
-        //         /// Buffer that holds the instants associated to the inputs of a task
-        //         static mut #instants:
-        //             [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
-        //             [#(#elems,)*];
-        //     ));
-        // }
+        let app_name = &app.name;
+        let app_path = quote! {crate::#app_name};
+
+        for (_, monotonic) in &app.monotonics {
+            let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+            let m = &monotonic.ident;
+
+            let uninit = mk_uninit();
+            mod_app.push(quote!(
+                #uninit
+                /// Buffer that holds the instants associated to the inputs of a task
+                static mut #instants:
+                    [core::mem::MaybeUninit<rtic::Instant<#app_path::#m>>; #cap_lit] =
+                    [#(#elems,)*];
+            ));
+        }
 
         let uninit = mk_uninit();
         let inputs_ident = util::inputs_ident(name);
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index f219eef2..dc298355 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -67,6 +67,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
         // Timer queue handler
         {
+            let enum_ = util::interrupt_ident();
+
             let arms = app
                 .software_tasks
                 .iter()
@@ -75,7 +77,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     let priority = task.args.priority;
                     let rq = util::rq_ident(priority);
                     let rqt = util::spawn_t_ident(priority);
-                    let enum_ = util::interrupt_ident();
 
                     // The interrupt that runs the task dispatcher
                     let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
@@ -98,12 +99,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .collect::<Vec<_>>();
 
             let bound_interrupt = &monotonic.args.binds;
+
             items.push(quote!(
                 #[no_mangle]
                 unsafe fn #bound_interrupt() {
                     use rtic::Mutex as _;
 
-                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
+                                || rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#bound_interrupt),
+                            ))
                     {
                         match task {
                             #(#arms)*
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index d9310dde..329a7ddf 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -77,8 +77,8 @@ pub fn inputs_ident(task: &Ident) -> Ident {
 }
 
 /// Generates an identifier for the `INSTANTS` buffer (`schedule` API)
-pub fn instants_ident(task: &Ident) -> Ident {
-    Ident::new(&format!("{}_INSTANTS", task), Span::call_site())
+pub fn monotonic_instants_ident(task: &Ident, monotonic: &Ident) -> Ident {
+    Ident::new(&format!("{}_{}_INSTANTS", task, monotonic), Span::call_site())
 }
 
 pub fn interrupt_ident() -> Ident {
@@ -103,22 +103,6 @@ pub fn is_exception(name: &Ident) -> bool {
     )
 }
 
-/// Generates a pre-reexport identifier for the "late resources" struct
-pub fn late_resources_ident(init: &Ident) -> Ident {
-    Ident::new(
-        &format!("{}LateResources", init.to_string()),
-        Span::call_site(),
-    )
-}
-
-/// Generates a pre-reexport identifier for the "monotonics" struct
-pub fn monotonics_ident(init: &Ident) -> Ident {
-    Ident::new(
-        &format!("{}Monotonics", init.to_string()),
-        Span::call_site(),
-    )
-}
-
 /// Mangle an ident
 pub fn mangle_ident(ident: &Ident) -> Ident {
     Ident::new(