1 files changed, 29 insertions, 12 deletions

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index fa2c7b36..9a430a07 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -5,10 +5,10 @@ use rtic_syntax::ast::App;
 use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates timer queues and timer queue handlers
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> {
     let mut items = vec![];
 
-    if let Some(m) = &extra.monotonic {
+    if !app.monotonics.is_empty() {
         let t = util::schedule_t_ident();
 
         // Enumeration of `schedule`-able tasks
@@ -36,12 +36,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 }
             ));
         }
+    }
 
-        let tq = util::tq_ident();
+    for (_, monotonic) in &app.monotonics {
+        let monotonic_name = monotonic.ident.to_string();
+        let tq = util::tq_ident(&monotonic_name);
+        let t = util::schedule_t_ident();
+        let m = &monotonic.ident;
 
-        // Static variable and resource proxy
+        // Static variables and resource proxy
         {
-            let doc = "Timer queue".to_string();
+            let doc = &format!("Timer queue for {}", monotonic_name);
             let cap = app
                 .software_tasks
                 .iter()
@@ -62,6 +67,9 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
 
         // Timer queue handler
         {
+            let enum_ = util::interrupt_ident();
+            let rt_err = util::rt_err_ident();
+
             let arms = app
                 .software_tasks
                 .iter()
@@ -70,12 +78,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     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;
 
                     let pend = {
                         quote!(
-                            rtic::pend(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#interrupt);
+                            rtic::pend(#rt_err::#enum_::#interrupt);
                         )
                     };
 
@@ -90,13 +99,20 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 })
                 .collect::<Vec<_>>();
 
-            let sys_tick = util::suffixed("SysTick");
+            let bound_interrupt = &monotonic.args.binds;
+            let enable_isr = if &*bound_interrupt.to_string() == "SysTick" {
+                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).enable_interrupt())
+            } else {
+                quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
+            };
+
             items.push(quote!(
                 #[no_mangle]
-                unsafe fn #sys_tick() {
-                    use rtic::Mutex as _;
-
-                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
+                #[allow(non_snake_case)]
+                unsafe fn #bound_interrupt() {
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
+                                || #enable_isr,
+                            ))
                     {
                         match task {
                             #(#arms)*
@@ -106,5 +122,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             ));
         }
     }
+
     items
 }