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@ -109,12 +109,50 @@ public:
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#endif
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private:
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#ifdef YOTTA_CFG_MBED_OS
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/* Store the current radio notification value that will be used in the next callback */
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bool radioNotificationCallbackParam;
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/*
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* In mbed OS, the idea is to post all callbacks through minar scheduler. However, the radio notifications
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* are handled in IRQs with very high priority. Trying to post a minar callback directly in
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* processRadioNotification() will result in a hard-fault. This is because minar asumes that all callbacks
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* are posted from low priority context, so when minar schedules the callback it attempts to enter a
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* critical section and disable all interrupts. The problem is that minar tries to do this by invoking the
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* SoftDevice with a call to sd_nvic_critical_region_enter() while already running in high priority. This
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* results in the SoftDevice generating a hard-fault.
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* A solution is to reduce the priority from which the callback is posted to minar. Unfortunately, there
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* are not clean ways to do this. The solution implemented uses a Timeout to call
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* postRadioNotificationCallback() after a very short delay (1 us) and post the minar callback there.
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*
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* !!!WARNING!!! Radio notifications are very time critical events. The current solution is expected to
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* work under the assumption that postRadioNotificationCalback() will be executed BEFORE the next radio
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* notification event is generated.
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*/
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Timeout radioNotificationTimeout;
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/*
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* A helper function to post radio notification callbacks through minar when using mbed OS.
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*/
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void postRadioNotificationCallback(void) {
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minar::Scheduler::postCallback(
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mbed::util::FunctionPointer1<void, bool>(&radioNotificationCallback, &FunctionPointerWithContext<bool>::call).bind(radioNotificationCallbackParam)
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);
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}
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#endif
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/**
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* A helper function to process radio-notification events; to be called internally.
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* @param param [description]
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*/
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void processRadioNotificationEvent(bool param) {
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#ifdef YOTTA_CFG_MBED_OS
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/* When using mbed OS the callback to the user-defined function will be posted through minar */
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radioNotificationCallbackParam = param;
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radioNotificationTimeout.attach_us(this, &nRF5xGap::postRadioNotificationCallback, 0);
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#else
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radioNotificationCallback.call(param);
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#endif
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}
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friend void radioNotificationStaticCallback(bool param); /* allow invocations of processRadioNotificationEvent() */
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