Now with spawn/schedule from anywhere

examples/schedule.rs

@@ -13,7 +13,7 @@ use rtic::cyccnt::{Instant, U32Ext as _};
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
-    #[init(schedule = [foo, bar])]
+    #[init()]
     fn init(mut cx: init::Context) -> init::LateResources {
         // Initialize (enable) the monotonic timer (CYCCNT)
         cx.core.DCB.enable_trace();
@@ -28,10 +28,10 @@ mod app {
         hprintln!("init @ {:?}", now).unwrap();
 
         // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
-        cx.schedule.foo(now + 8_000_000.cycles()).unwrap();
+        foo::schedule(now + 8_000_000.cycles()).unwrap();
 
         // Schedule `bar` to run 4e6 cycles in the future
-        cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
+        bar::schedule(now + 4_000_000.cycles()).unwrap();
 
         init::LateResources {}
     }

examples/spawn.rs

@@ -11,8 +11,10 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 mod app {
     #[init(spawn = [foo])]
-    fn init(_c: init::Context) {
+    fn init(_c: init::Context) -> init::LateResources {
         foo::spawn(1, 2).unwrap();
+
+        init::LateResources {}
     }
 
     #[task()]

examples/spawn2.rs

@@ -10,12 +10,14 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [foo, foo2])]
+    #[init]
-    fn init(_c: init::Context) {
+    fn init(_c: init::Context) -> init::LateResources {
         foo::spawn(1, 2).unwrap();
+
+        init::LateResources {}
     }
 
-    #[task()]
+    #[task]
     fn foo(_c: foo::Context, x: i32, y: u32) {
         hprintln!("foo {}, {}", x, y).unwrap();
         if x == 2 {
@@ -24,7 +26,7 @@ mod app {
         foo2::spawn(2).unwrap();
     }
 
-    #[task()]
+    #[task]
     fn foo2(_c: foo2::Context, x: i32) {
         hprintln!("foo2 {}", x).unwrap();
         foo::spawn(x, 0).unwrap();

macros/Cargo.toml

@@ -21,5 +21,5 @@ proc-macro = true
 proc-macro2 = "1"
 quote = "1"
 syn = "1"
-rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.4.0" }
+rtic-syntax = { path = "../../rtic-syntax", version = "0.4.0" }
 

macros/src/analyze.rs

@@ -29,7 +29,6 @@ pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
         .software_tasks
         .values()
         .filter_map(|task| Some(task.args.priority))
-        .chain(analysis.timer_queues.first().map(|tq| tq.priority))
         .collect::<BTreeSet<_>>();
 
     if !priorities.is_empty() {

macros/src/check.rs

@@ -19,35 +19,7 @@ impl<'a> Extra<'a> {
     }
 }
 
-pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
+pub fn app<'a>(app: &'a App, _analysis: &Analysis) -> parse::Result<Extra<'a>> {
-    // Check that all exceptions are valid; only exceptions with configurable priorities are
-    // accepted
-    for (name, task) in &app.hardware_tasks {
-        let name_s = task.args.binds.to_string();
-        match &*name_s {
-            "SysTick" => {
-                // If the timer queue is used, then SysTick is unavailable
-                if !analysis.timer_queues.is_empty() {
-                    return Err(parse::Error::new(
-                        name.span(),
-                        "this exception can't be used because it's being used by the runtime",
-                    ));
-                } else {
-                    // OK
-                }
-            }
-
-            "NonMaskableInt" | "HardFault" => {
-                return Err(parse::Error::new(
-                    name.span(),
-                    "only exceptions with configurable priority can be used as hardware tasks",
-                ));
-            }
-
-            _ => {}
-        }
-    }
-
     // Check that external (device-specific) interrupts are not named after known (Cortex-M)
     // exceptions
     for name in app.extern_interrupts.keys() {
@@ -76,7 +48,6 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
             first = Some(name);
             Some(task.args.priority)
         })
-        .chain(analysis.timer_queues.first().map(|tq| tq.priority))
         .collect::<HashSet<_>>();
 
     let need = priorities.len();
@@ -141,11 +112,32 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
         }
     }
 
-    if !&analysis.timer_queues.is_empty() && monotonic.is_none() {
+    // Check that all exceptions are valid; only exceptions with configurable priorities are
+    // accepted
+    for (name, task) in &app.hardware_tasks {
+        let name_s = task.args.binds.to_string();
+        match &*name_s {
+            "SysTick" => {
+                // If the timer queue is used, then SysTick is unavailable
+                if monotonic.is_some() {
                     return Err(parse::Error::new(
-            Span::call_site(),
+                        name.span(),
-            "a `monotonic` timer must be specified to use the `schedule` API",
+                        "this exception can't be used because it's being used by the runtime",
                     ));
+                } else {
+                    // OK
+                }
+            }
+
+            "NonMaskableInt" | "HardFault" => {
+                return Err(parse::Error::new(
+                    name.span(),
+                    "only exceptions with configurable priority can be used as hardware tasks",
+                ));
+            }
+
+            _ => {}
+        }
     }
 
     if let Some(device) = device {

macros/src/codegen.rs

@@ -15,11 +15,11 @@ mod post_init;
 mod pre_init;
 mod resources;
 mod resources_struct;
-mod schedule;
+// mod schedule;
-mod schedule_body;
+// mod schedule_body;
 mod software_tasks;
-mod spawn;
+// mod spawn;
-mod spawn_body;
+// mod spawn_body;
 mod timer_queue;
 mod util;
 
@@ -116,11 +116,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
 
     let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra);
 
-    let mod_app_spawn = spawn::codegen(app, analysis, extra);
+    // let mod_app_spawn = spawn::codegen(app, analysis, extra);
 
     let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra);
 
-    let mod_app_schedule = schedule::codegen(app, extra);
+    // let mod_app_schedule = schedule::codegen(app, extra);
 
     let user_imports = app.user_imports.clone();
     let user_code = app.user_code.clone();
@@ -170,11 +170,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
 
             #(#mod_app_dispatchers)*
 
-            #(#mod_app_spawn)*
+            // #(#mod_app_spawn)*
 
             #(#mod_app_timer_queue)*
 
-            #(#mod_app_schedule)*
+            // #(#mod_app_schedule)*
 
             #(#mains)*
         }

macros/src/codegen/dispatchers.rs

@@ -60,24 +60,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             pub static mut #rq: #rq_ty = #rq_expr;
         ));
 
-        if let Some(ceiling) = channel.ceiling {
-            items.push(quote!(
-                struct #rq<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-            ));
-
-            items.push(util::impl_mutex(
-                extra,
-                &[],
-                false,
-                &rq,
-                rq_ty,
-                ceiling,
-                quote!(&mut #rq),
-            ));
-        }
-
         let arms = channel
             .tasks
             .iter()
@@ -88,7 +70,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 let inputs = util::inputs_ident(name);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
 
-                let (let_instant, instant) = if app.uses_schedule() {
+                let (let_instant, instant) = if extra.monotonic.is_some() {
                     let instants = util::instants_ident(name);
 
                     (

macros/src/codegen/hardware_tasks.rs

@@ -32,7 +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 (let_instant, instant) = if extra.monotonic.is_some() {
             let m = extra.monotonic();
 
             (

macros/src/codegen/module.rs

@@ -21,7 +21,7 @@ pub fn codegen(
     let mut lt = None;
     match ctxt {
         Context::Init => {
-            if app.uses_schedule() {
+            if extra.monotonic.is_some() {
                 let m = extra.monotonic();
 
                 fields.push(quote!(
@@ -67,7 +67,7 @@ pub fn codegen(
         Context::Idle => {}
 
         Context::HardwareTask(..) => {
-            if app.uses_schedule() {
+            if extra.monotonic.is_some() {
                 let m = extra.monotonic();
 
                 fields.push(quote!(
@@ -82,7 +82,7 @@ pub fn codegen(
         }
 
         Context::SoftwareTask(..) => {
-            if app.uses_schedule() {
+            if extra.monotonic.is_some() {
                 let m = extra.monotonic();
 
                 fields.push(quote!(
@@ -132,139 +132,6 @@ pub fn codegen(
         values.push(quote!(resources: Resources::new(#priority)));
     }
 
-    if ctxt.uses_schedule(app) {
-        let doc = "Tasks that can be `schedule`-d from this context";
-        if ctxt.is_init() {
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Schedule {
-                    _not_send: core::marker::PhantomData<*mut ()>,
-                }
-            ));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub schedule: Schedule
-            ));
-
-            values.push(quote!(
-                schedule: Schedule { _not_send: core::marker::PhantomData }
-            ));
-        } else {
-            lt = Some(quote!('a));
-
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Schedule<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-
-                impl<'a> Schedule<'a> {
-                    #[doc(hidden)]
-                    #[inline(always)]
-                    pub unsafe fn priority(&self) -> &rtic::export::Priority {
-                        &self.priority
-                    }
-                }
-            ));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub schedule: Schedule<'a>
-            ));
-
-            values.push(quote!(
-                schedule: Schedule { priority }
-            ));
-        }
-    }
-
-    if ctxt.uses_spawn(app) {
-        let doc = "Tasks that can be `spawn`-ed from this context";
-        if ctxt.is_init() {
-            fields.push(quote!(
-                #[doc = #doc]
-                pub spawn: Spawn
-            ));
-
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Spawn {
-                    _not_send: core::marker::PhantomData<*mut ()>,
-                }
-            ));
-
-            values.push(quote!(spawn: Spawn { _not_send: core::marker::PhantomData }));
-        } else {
-            lt = Some(quote!('a));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub spawn: Spawn<'a>
-            ));
-
-            let mut instant_method = None;
-            if ctxt.is_idle() {
-                items.push(quote!(
-                    #[doc = #doc]
-                    #[derive(Clone, Copy)]
-                    pub struct Spawn<'a> {
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
-
-                values.push(quote!(spawn: Spawn { priority }));
-            } else {
-                let instant_field = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    needs_instant = true;
-                    instant_method = Some(quote!(
-                        pub unsafe fn instant(&self) -> <#m as rtic::Monotonic>::Instant {
-                            self.instant
-                        }
-                    ));
-                    Some(quote!(instant: <#m as rtic::Monotonic>::Instant,))
-                } else {
-                    None
-                };
-
-                items.push(quote!(
-                    /// Tasks that can be spawned from this context
-                    #[derive(Clone, Copy)]
-                    pub struct Spawn<'a> {
-                        #instant_field
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
-
-                let _instant = if needs_instant {
-                    Some(quote!(, instant))
-                } else {
-                    None
-                };
-                values.push(quote!(
-                    spawn: Spawn { priority #_instant }
-                ));
-            }
-
-            items.push(quote!(
-                impl<'a> Spawn<'a> {
-                    #[doc(hidden)]
-                    #[inline(always)]
-                    pub unsafe fn priority(&self) -> &rtic::export::Priority {
-                        self.priority
-                    }
-
-                    #instant_method
-                }
-            ));
-        }
-    }
-
     if let Context::Init = ctxt {
         let init = &app.inits.first().unwrap();
         let late_resources = util::late_resources_ident(&init.name);
@@ -283,7 +150,7 @@ pub fn codegen(
     };
 
     let core = if ctxt.is_init() {
-        if app.uses_schedule() {
+        if extra.monotonic.is_some() {
             Some(quote!(core: rtic::Peripherals,))
         } else {
             Some(quote!(core: rtic::export::Peripherals,))
@@ -337,11 +204,6 @@ pub fn codegen(
         let rq = util::rq_ident(priority);
         let inputs = util::inputs_ident(name);
 
-        eprintln!("app name: {}", app.name);
-        eprintln!("inputs {}", &inputs);
-        eprintln!("task name: {}", name);
-        eprintln!("fq {}", fq);
-        eprintln!("rq {}", rq);
         let app_name = &app.name;
         let app_path = quote! {crate::#app_name};
 
@@ -349,6 +211,7 @@ pub fn codegen(
         let enum_ = util::interrupt_ident();
         let interrupt = &analysis.interrupts.get(&priority);
 
+        // Spawn caller
         items.push(quote!(
         #(#cfgs)*
         pub fn spawn(#(#args,)*) -> Result<(), #ty> {
@@ -357,13 +220,12 @@ pub fn codegen(
 
             let input = #tupled;
 
-            if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
             unsafe {
+                if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
                     #app_path::#inputs
                         .get_unchecked_mut(usize::from(index))
                         .as_mut_ptr()
                         .write(input);
-                }
 
                     rtic::export::interrupt::free(|_| {
                         #app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index));
@@ -375,8 +237,54 @@ pub fn codegen(
                 } else {
                     Err(input)
                 }
+            }
 
         }));
+
+        // Schedule caller
+        if extra.monotonic.is_some() {
+            let instants = util::instants_ident(name);
+
+            let tq = util::tq_ident();
+            let m = extra.monotonic();
+            let t = util::schedule_t_ident();
+
+            items.push(quote!(
+            #(#cfgs)*
+            pub fn schedule(
+                instant: <#m as rtic::Monotonic>::Instant
+                #(,#args)*
+            ) -> Result<(), #ty> {
+                unsafe {
+                    use rtic::Mutex as _;
+
+                    let input = #tupled;
+                    if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
+                        #app_path::#inputs
+                            .get_unchecked_mut(usize::from(index))
+                            .as_mut_ptr()
+                            .write(input);
+
+                        #app_path::#instants
+                            .get_unchecked_mut(usize::from(index))
+                            .as_mut_ptr()
+                            .write(instant);
+
+                        let nr = rtic::export::NotReady {
+                            instant,
+                            index,
+                            task: #app_path::#t::#name,
+                        };
+
+                        rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr));
+
+                        Ok(())
+                    } else {
+                        Err(input)
+                    }
+                }
+            }));
+        }
     }
 
     if !items.is_empty() {

macros/src/codegen/pre_init.rs

@@ -12,10 +12,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     stmts.push(quote!(rtic::export::interrupt::disable();));
 
     // Populate the FreeQueue
-    for fq in &analysis.free_queues {
+    for fq in &app.software_tasks {
         // Get the task name
         let name = fq.0;
-        let task = &app.software_tasks[name];
+        let task = fq.1;
         let cap = task.args.capacity;
 
         let fq_ident = util::fq_ident(name);
@@ -81,8 +81,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     }
 
     // Initialize the SysTick if there exist a TimerQueue
-    if let Some(tq) = analysis.timer_queues.first() {
+    if extra.monotonic.is_some() {
-        let priority = tq.priority;
+        let priority = analysis.channels.keys().max().unwrap();
 
         // Compile time assert that this priority is supported by the device
         stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));

macros/src/codegen/schedule.rs

@@ -1,90 +0,0 @@
-use std::collections::HashSet;
-
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{
-    check::Extra,
-    codegen::{schedule_body, util},
-};
-
-/// Generates all `${ctxt}::Schedule` methods
-pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
-    let mut items = vec![];
-
-    let mut seen = HashSet::<_>::new();
-    for (scheduler, schedulees) in app.schedule_callers() {
-        let m = extra.monotonic();
-        let instant = quote!(<#m as rtic::Monotonic>::Instant);
-
-        let mut methods = vec![];
-
-        for name in schedulees {
-            let schedulee = &app.software_tasks[name];
-            let cfgs = &schedulee.cfgs;
-            let (args, _, untupled, ty) = util::regroup_inputs(&schedulee.inputs);
-            let args = &args;
-
-            if scheduler.is_init() {
-                // `init` uses a special `schedule` implementation; it doesn't use the
-                // `schedule_${name}` functions which are shared by other contexts
-
-                let body = schedule_body::codegen(scheduler, &name, app);
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
-                        #body
-                    }
-                ));
-            } else {
-                let schedule = util::schedule_ident(name);
-
-                if !seen.contains(name) {
-                    // Generate a `schedule_${name}_S${sender}` function
-                    seen.insert(name);
-
-                    let body = schedule_body::codegen(scheduler, &name, app);
-
-                    items.push(quote!(
-                        #(#cfgs)*
-                        pub unsafe fn #schedule(
-                            priority: &rtic::export::Priority,
-                            instant: #instant
-                            #(,#args)*
-                        ) -> Result<(), #ty> {
-                            #body
-                        }
-                    ));
-                }
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    #[inline(always)]
-                    pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
-                        unsafe {
-                            #schedule(self.priority(), instant #(,#untupled)*)
-                        }
-                    }
-                ));
-            }
-        }
-
-        let lt = if scheduler.is_init() {
-            None
-        } else {
-            Some(quote!('a))
-        };
-
-        let scheduler = scheduler.ident(app);
-        debug_assert!(!methods.is_empty());
-        items.push(quote!(
-            impl<#lt> #scheduler::Schedule<#lt> {
-                #(#methods)*
-            }
-        ));
-    }
-
-    items
-}

macros/src/codegen/schedule_body.rs

@@ -1,59 +0,0 @@
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-use syn::Ident;
-
-use crate::codegen::util;
-
-pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 {
-    let schedulee = &app.software_tasks[name];
-
-    let fq = util::fq_ident(name);
-    let tq = util::tq_ident();
-    let (dequeue, enqueue) = if scheduler.is_init() {
-        (quote!(#fq.dequeue()), quote!(#tq.enqueue_unchecked(nr);))
-    } else {
-        (
-            quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
-            quote!((#tq { priority }).lock(|tq| tq.enqueue_unchecked(nr));),
-        )
-    };
-
-    let write_instant = if app.uses_schedule() {
-        let instants = util::instants_ident(name);
-
-        Some(quote!(
-            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
-        ))
-    } else {
-        None
-    };
-
-    let (_, tupled, _, _) = util::regroup_inputs(&schedulee.inputs);
-    let inputs = util::inputs_ident(name);
-    let t = util::schedule_t_ident();
-    quote!(
-        unsafe {
-            use rtic::Mutex as _;
-
-            let input = #tupled;
-            if let Some(index) = #dequeue {
-                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
-
-                #write_instant
-
-                let nr = rtic::export::NotReady {
-                    instant,
-                    index,
-                    task: #t::#name,
-                };
-
-                #enqueue
-
-                Ok(())
-            } else {
-                Err(input)
-            }
-        }
-    )
-}

macros/src/codegen/software_tasks.rs

@@ -39,7 +39,6 @@ pub fn codegen(
         let cap_ty = util::capacity_typenum(cap, true);
 
         // Create free queues and inputs / instants buffers
-        if let Some(&ceiling) = analysis.free_queues.get(name) {
         let fq = util::fq_ident(name);
 
         let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
@@ -57,30 +56,11 @@ pub fn codegen(
             pub static mut #fq: #fq_ty = #fq_expr;
         ));
 
-            // Generate a resource proxy if needed
-            if let Some(ceiling) = ceiling {
-                mod_app.push(quote!(
-                    struct #fq<'a> {
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
-
-                mod_app.push(util::impl_mutex(
-                    extra,
-                    &[],
-                    false,
-                    &fq,
-                    fq_ty,
-                    ceiling,
-                    quote!(&mut #fq),
-                ));
-            }
-
         let ref elems = (0..cap)
             .map(|_| quote!(core::mem::MaybeUninit::uninit()))
             .collect::<Vec<_>>();
 
-            if app.uses_schedule() {
+        if extra.monotonic.is_some() {
             let m = extra.monotonic();
             let instants = util::instants_ident(name);
 
@@ -95,14 +75,13 @@ pub fn codegen(
         }
 
         let uninit = mk_uninit();
-            let inputs = util::inputs_ident(name);
+        let inputs_ident = util::inputs_ident(name);
         mod_app.push(quote!(
             #uninit
             /// Buffer that holds the inputs of a task
-                pub static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+            pub static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
                 [#(#elems,)*];
         ));
-        }
 
         // `${task}Resources`
         let mut needs_lt = false;

macros/src/codegen/spawn.rs

@@ -1,121 +0,0 @@
-use std::collections::HashSet;
-
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{
-    analyze::Analysis,
-    check::Extra,
-    codegen::{spawn_body, util},
-};
-
-/// Generates all `${ctxt}::Spawn` methods
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
-    let mut items = vec![];
-
-    let mut seen = HashSet::<_>::new();
-    for (spawner, spawnees) in app.spawn_callers() {
-        let mut methods = vec![];
-
-        for name in spawnees {
-            let spawnee = &app.software_tasks[name];
-            let cfgs = &spawnee.cfgs;
-            let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
-            let args = &args;
-
-            if spawner.is_init() {
-                // `init` uses a special spawn implementation; it doesn't use the `spawn_${name}`
-                // functions which are shared by other contexts
-
-                let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
-
-                let let_instant = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    Some(quote!(let instant = unsafe { <#m as rtic::Monotonic>::zero() };))
-                } else {
-                    None
-                };
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    pub fn #name(&self #(,#args)*) -> Result<(), #ty> {
-                        #let_instant
-                        #body
-                    }
-                ));
-            } else {
-                let spawn = util::spawn_ident(name);
-
-                if !seen.contains(name) {
-                    // Generate a `spawn_${name}_S${sender}` function
-                    seen.insert(name);
-
-                    let instant = if app.uses_schedule() {
-                        let m = extra.monotonic();
-
-                        Some(quote!(, instant: <#m as rtic::Monotonic>::Instant))
-                    } else {
-                        None
-                    };
-
-                    let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
-
-                    items.push(quote!(
-                        #(#cfgs)*
-                        unsafe fn #spawn(
-                            priority: &rtic::export::Priority
-                            #instant
-                            #(,#args)*
-                        ) -> Result<(), #ty> {
-                            #body
-                        }
-                    ));
-                }
-
-                let (let_instant, instant) = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    (
-                        Some(if spawner.is_idle() {
-                            quote!(let instant = <#m as rtic::Monotonic>::now();)
-                        } else {
-                            quote!(let instant = self.instant();)
-                        }),
-                        Some(quote!(, instant)),
-                    )
-                } else {
-                    (None, None)
-                };
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    #[inline(always)]
-                    pub fn #name(&self #(,#args)*) -> Result<(), #ty> {
-                        unsafe {
-                            #let_instant
-                            #spawn(self.priority() #instant #(,#untupled)*)
-                        }
-                    }
-                ));
-            }
-        }
-
-        let lt = if spawner.is_init() {
-            None
-        } else {
-            Some(quote!('a))
-        };
-
-        let spawner = spawner.ident(app);
-        debug_assert!(!methods.is_empty());
-        items.push(quote!(
-            impl<#lt> #spawner::Spawn<#lt> {
-                #(#methods)*
-            }
-        ));
-    }
-
-    items
-}

macros/src/codegen/spawn_body.rs

@@ -1,76 +0,0 @@
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-use syn::Ident;
-
-use crate::{analyze::Analysis, check::Extra, codegen::util};
-
-pub fn codegen(
-    spawner: Context,
-    name: &Ident,
-    app: &App,
-    analysis: &Analysis,
-    extra: &Extra,
-) -> TokenStream2 {
-    let spawnee = &app.software_tasks[name];
-    let priority = spawnee.args.priority;
-
-    let write_instant = if app.uses_schedule() {
-        let instants = util::instants_ident(name);
-
-        Some(quote!(
-            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
-        ))
-    } else {
-        None
-    };
-
-    let t = util::spawn_t_ident(priority);
-    let fq = util::fq_ident(name);
-    let rq = util::rq_ident(priority);
-    let (dequeue, enqueue) = if spawner.is_init() {
-        (
-            quote!(#fq.dequeue()),
-            quote!(#rq.enqueue_unchecked((#t::#name, index));),
-        )
-    } else {
-        (
-            quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))),
-            quote!((#rq { priority }.lock(|rq| {
-                rq.split().0.enqueue_unchecked((#t::#name, index))
-            }));),
-        )
-    };
-
-    let device = extra.device;
-    let enum_ = util::interrupt_ident();
-    let interrupt = &analysis.interrupts.get(&priority);
-    let pend = {
-        quote!(
-            rtic::pend(#device::#enum_::#interrupt);
-        )
-    };
-
-    let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs);
-    let inputs = util::inputs_ident(name);
-    quote!(
-        unsafe {
-            use rtic::Mutex as _;
-
-            let input = #tupled;
-            if let Some(index) = #dequeue {
-                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
-
-                #write_instant
-
-                #enqueue
-
-                #pend
-
-                Ok(())
-            } else {
-                Err(input)
-            }
-        }
-    )
-}

macros/src/codegen/timer_queue.rs

@@ -8,16 +8,16 @@ use crate::{analyze::Analysis, check::Extra, codegen::util};
 pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
     let mut items = vec![];
 
-    if let Some(timer_queue) = &analysis.timer_queues.first() {
+    if extra.monotonic.is_some() {
         let t = util::schedule_t_ident();
 
         // Enumeration of `schedule`-able tasks
         {
-            let variants = timer_queue
+            let variants = app
-                .tasks
+                .software_tasks
                 .iter()
-                .map(|name| {
+                .map(|(name, task)| {
-                    let cfgs = &app.software_tasks[name].cfgs;
+                    let cfgs = &task.cfgs;
 
                     quote!(
                         #(#cfgs)*
@@ -31,7 +31,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 #[doc = #doc]
                 #[allow(non_camel_case_types)]
                 #[derive(Clone, Copy)]
-                enum #t {
+                pub enum #t {
                     #(#variants,)*
                 }
             ));
@@ -43,42 +43,31 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         {
             let doc = format!("Timer queue");
             let m = extra.monotonic();
-            let n = util::capacity_typenum(timer_queue.capacity, false);
+            let cap = app
+                .software_tasks
+                .iter()
+                .map(|(_name, task)| task.args.capacity)
+                .sum();
+            let n = util::capacity_typenum(cap, false);
             let tq_ty = quote!(rtic::export::TimerQueue<#m, #t, #n>);
 
             items.push(quote!(
                 #[doc = #doc]
-                static mut #tq: #tq_ty = rtic::export::TimerQueue(
+                pub static mut #tq: #tq_ty = rtic::export::TimerQueue(
                     rtic::export::BinaryHeap(
                         rtic::export::iBinaryHeap::new()
                     )
                 );
-
-                struct #tq<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-            ));
-
-            items.push(util::impl_mutex(
-                extra,
-                &[],
-                false,
-                &tq,
-                tq_ty,
-                timer_queue.ceiling,
-                quote!(&mut #tq),
             ));
         }
 
         // Timer queue handler
         {
             let device = extra.device;
-            let arms = timer_queue
+            let arms = app
-                .tasks
+                .software_tasks
                 .iter()
-                .map(|name| {
+                .map(|(name, task)| {
-                    let task = &app.software_tasks[name];
-
                     let cfgs = &task.cfgs;
                     let priority = task.args.priority;
                     let rq = util::rq_ident(priority);
@@ -95,9 +84,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
-                            (#rq { priority: &rtic::export::Priority::new(PRIORITY) }).lock(|rq| {
+                            rtic::export::interrupt::free(|_| #rq.split().0.enqueue_unchecked((#rqt::#name, index)));
-                                rq.split().0.enqueue_unchecked((#rqt::#name, index))
-                            });
 
                             #pend
                         }
@@ -105,30 +92,18 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 })
                 .collect::<Vec<_>>();
 
-            let priority = timer_queue.priority;
             let sys_tick = util::suffixed("SysTick");
             items.push(quote!(
                 #[no_mangle]
                 unsafe fn #sys_tick() {
                     use rtic::Mutex as _;
 
-                    /// The priority of this handler
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
-                    const PRIORITY: u8 = #priority;
-
-                    rtic::export::run(PRIORITY, || {
-                        while let Some((task, index)) = (#tq {
-                            // NOTE dynamic priority is always the static priority at this point
-                            priority: &rtic::export::Priority::new(PRIORITY),
-                        })
-                        // NOTE `inline(always)` produces faster and smaller code
-                            .lock(#[inline(always)]
-                                |tq| tq.dequeue())
                     {
                         match task {
                             #(#arms)*
                         }
                     }
-                    });
                 }
             ));
         }

macros/src/codegen/util.rs

@@ -207,23 +207,9 @@ pub fn rq_ident(priority: u8) -> Ident {
     Ident::new(&format!("P{}_RQ", priority), Span::call_site())
 }
 
-/// Generates an identifier for a "schedule" function
-///
-/// The methods of the `Schedule` structs invoke these functions.
-pub fn schedule_ident(name: &Ident) -> Ident {
-    Ident::new(&format!("schedule_{}", name.to_string()), Span::call_site())
-}
-
 /// Generates an identifier for the `enum` of `schedule`-able tasks
 pub fn schedule_t_ident() -> Ident {
-    Ident::new(&format!("T"), Span::call_site())
+    Ident::new(&format!("SCHED_T"), Span::call_site())
-}
-
-/// Generates an identifier for a "spawn" function
-///
-/// The methods of the `Spawn` structs invoke these functions.
-pub fn spawn_ident(name: &Ident) -> Ident {
-    Ident::new(&format!("spawn_{}", name.to_string()), Span::call_site())
 }
 
 /// Generates an identifier for the `enum` of `spawn`-able tasks

macros/src/lib.rs

@@ -207,7 +207,6 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     settings.optimize_priorities = true;
     settings.parse_binds = true;
     settings.parse_extern_interrupt = true;
-    settings.parse_schedule = true;
 
     let (app, analysis) = match rtic_syntax::parse(args, input, settings) {
         Err(e) => return e.to_compile_error().into(),