Jonathan Austin / nRF51822

Nordic stack and drivers for the mbed BLE API. Version to work around build bug.

Dependents:   microbit_rubber_ducky microbit_mouse_BLE microbit_mouse_BLE_daybreak_version microbit_presenter

Fork of nRF51822 by Nordic Semiconductor

source/nRF5xGap.h@479:f6e4a3f0a09a, 2015-11-26 (annotated)

Committer:
rgrover1
Date:
Thu Nov 26 15:02:39 2015 +0000
Revision:
479:f6e4a3f0a09a
Parent:
478:b5b54bf15533
Child:
480:cf44bb89e3f1
Synchronized with git rev 167ddd63

Author: Andres Amaya Garcia

Execute radio notification in low priority context



The ble-nrf51822 implementation of the BLE API executes callbacks for radio

notification events at very high priority. This functionality is replaced by

executing the radio notification callback at a lower priority. When using

mbed OS the callback is posted through minar. In mbed classic the callback is

executed directly, but from a lower priority. Note that minar or callback

execution in mbed classic could not be posted/generated directly from the

radio notification handler because this causes race conditions that may lead

to a hard-fault. Alternatively, a Timeout was used to post the callback in

another context with lower priority.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rgrover1 388:db85a09c27ef 1 /* mbed Microcontroller Library
rgrover1 388:db85a09c27ef 2 * Copyright (c) 2006-2013 ARM Limited
rgrover1 388:db85a09c27ef 3 *
rgrover1 388:db85a09c27ef 4 * Licensed under the Apache License, Version 2.0 (the "License");
rgrover1 388:db85a09c27ef 5 * you may not use this file except in compliance with the License.
rgrover1 388:db85a09c27ef 6 * You may obtain a copy of the License at
rgrover1 388:db85a09c27ef 7 *
rgrover1 388:db85a09c27ef 8 * http://www.apache.org/licenses/LICENSE-2.0
rgrover1 388:db85a09c27ef 9 *
rgrover1 388:db85a09c27ef 10 * Unless required by applicable law or agreed to in writing, software
rgrover1 388:db85a09c27ef 11 * distributed under the License is distributed on an "AS IS" BASIS,
rgrover1 388:db85a09c27ef 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rgrover1 388:db85a09c27ef 13 * See the License for the specific language governing permissions and
rgrover1 388:db85a09c27ef 14 * limitations under the License.
rgrover1 388:db85a09c27ef 15 */
rgrover1 388:db85a09c27ef 16
rgrover1 388:db85a09c27ef 17 #ifndef __NRF5x_GAP_H__
rgrover1 388:db85a09c27ef 18 #define __NRF5x_GAP_H__
rgrover1 388:db85a09c27ef 19
rgrover1 388:db85a09c27ef 20 #include "mbed.h"
rgrover1 388:db85a09c27ef 21 #include "ble/blecommon.h"
rgrover1 388:db85a09c27ef 22 #include "ble.h"
rgrover1 388:db85a09c27ef 23 #include "ble/GapAdvertisingParams.h"
rgrover1 388:db85a09c27ef 24 #include "ble/GapAdvertisingData.h"
rgrover1 388:db85a09c27ef 25 #include "ble/Gap.h"
rgrover1 388:db85a09c27ef 26 #include "ble/GapScanningParams.h"
rgrover1 388:db85a09c27ef 27
rgrover1 388:db85a09c27ef 28 #include "nrf_soc.h"
rgrover1 479:f6e4a3f0a09a 29
rgrover1 479:f6e4a3f0a09a 30 extern "C" {
rgrover1 388:db85a09c27ef 31 #include "ble_radio_notification.h"
rgrover1 479:f6e4a3f0a09a 32 }
rgrover1 479:f6e4a3f0a09a 33
rgrover1 388:db85a09c27ef 34 #include "btle_security.h"
rgrover1 388:db85a09c27ef 35
rgrover1 396:e5b0385fc6f1 36 void radioNotificationStaticCallback(bool param);
rgrover1 396:e5b0385fc6f1 37
rgrover1 388:db85a09c27ef 38 /**************************************************************************/
rgrover1 388:db85a09c27ef 39 /*!
rgrover1 388:db85a09c27ef 40 \brief
rgrover1 388:db85a09c27ef 41
rgrover1 388:db85a09c27ef 42 */
rgrover1 388:db85a09c27ef 43 /**************************************************************************/
rgrover1 388:db85a09c27ef 44 class nRF5xGap : public Gap
rgrover1 388:db85a09c27ef 45 {
rgrover1 388:db85a09c27ef 46 public:
rgrover1 388:db85a09c27ef 47 static nRF5xGap &getInstance();
rgrover1 388:db85a09c27ef 48
rgrover1 388:db85a09c27ef 49 /* Functions that must be implemented from Gap */
rgrover1 388:db85a09c27ef 50 virtual ble_error_t setAddress(AddressType_t type, const Address_t address);
rgrover1 388:db85a09c27ef 51 virtual ble_error_t getAddress(AddressType_t *typeP, Address_t address);
rgrover1 388:db85a09c27ef 52 virtual ble_error_t setAdvertisingData(const GapAdvertisingData &, const GapAdvertisingData &);
rgrover1 388:db85a09c27ef 53
rgrover1 405:665704963abb 54 virtual uint16_t getMinAdvertisingInterval(void) const {return GapAdvertisingParams::ADVERTISEMENT_DURATION_UNITS_TO_MS(BLE_GAP_ADV_INTERVAL_MIN);}
rgrover1 405:665704963abb 55 virtual uint16_t getMinNonConnectableAdvertisingInterval(void) const {return GapAdvertisingParams::ADVERTISEMENT_DURATION_UNITS_TO_MS(BLE_GAP_ADV_NONCON_INTERVAL_MIN);}
rgrover1 405:665704963abb 56 virtual uint16_t getMaxAdvertisingInterval(void) const {return GapAdvertisingParams::ADVERTISEMENT_DURATION_UNITS_TO_MS(BLE_GAP_ADV_INTERVAL_MAX);}
rgrover1 388:db85a09c27ef 57
rgrover1 388:db85a09c27ef 58 virtual ble_error_t startAdvertising(const GapAdvertisingParams &);
rgrover1 388:db85a09c27ef 59 virtual ble_error_t stopAdvertising(void);
rgrover1 388:db85a09c27ef 60 virtual ble_error_t connect(const Address_t, Gap::AddressType_t peerAddrType, const ConnectionParams_t *connectionParams, const GapScanningParams *scanParams);
rgrover1 388:db85a09c27ef 61 virtual ble_error_t disconnect(Handle_t connectionHandle, DisconnectionReason_t reason);
rgrover1 388:db85a09c27ef 62 virtual ble_error_t disconnect(DisconnectionReason_t reason);
rgrover1 388:db85a09c27ef 63
rgrover1 388:db85a09c27ef 64 virtual ble_error_t setDeviceName(const uint8_t *deviceName);
rgrover1 388:db85a09c27ef 65 virtual ble_error_t getDeviceName(uint8_t *deviceName, unsigned *lengthP);
rgrover1 388:db85a09c27ef 66 virtual ble_error_t setAppearance(GapAdvertisingData::Appearance appearance);
rgrover1 388:db85a09c27ef 67 virtual ble_error_t getAppearance(GapAdvertisingData::Appearance *appearanceP);
rgrover1 388:db85a09c27ef 68
rgrover1 388:db85a09c27ef 69 virtual ble_error_t setTxPower(int8_t txPower);
rgrover1 388:db85a09c27ef 70 virtual void getPermittedTxPowerValues(const int8_t **valueArrayPP, size_t *countP);
rgrover1 388:db85a09c27ef 71
rgrover1 388:db85a09c27ef 72 void setConnectionHandle(uint16_t con_handle);
rgrover1 388:db85a09c27ef 73 uint16_t getConnectionHandle(void);
rgrover1 388:db85a09c27ef 74
rgrover1 388:db85a09c27ef 75 virtual ble_error_t getPreferredConnectionParams(ConnectionParams_t *params);
rgrover1 388:db85a09c27ef 76 virtual ble_error_t setPreferredConnectionParams(const ConnectionParams_t *params);
rgrover1 388:db85a09c27ef 77 virtual ble_error_t updateConnectionParams(Handle_t handle, const ConnectionParams_t *params);
rgrover1 388:db85a09c27ef 78
rgrover1 396:e5b0385fc6f1 79 virtual ble_error_t initRadioNotification(void) {
rgrover1 396:e5b0385fc6f1 80 if (ble_radio_notification_init(NRF_APP_PRIORITY_HIGH, NRF_RADIO_NOTIFICATION_DISTANCE_800US, radioNotificationStaticCallback) == NRF_SUCCESS) {
rgrover1 396:e5b0385fc6f1 81 return BLE_ERROR_NONE;
rgrover1 396:e5b0385fc6f1 82 }
rgrover1 396:e5b0385fc6f1 83
rgrover1 396:e5b0385fc6f1 84 return BLE_ERROR_UNSPECIFIED;
rgrover1 388:db85a09c27ef 85 }
rgrover1 388:db85a09c27ef 86
rgrover1 430:db7edc9ad0bc 87 /* Observer role is not supported by S110, return BLE_ERROR_NOT_IMPLEMENTED */
rgrover1 455:e33de7c4574c 88 #if !defined(TARGET_MCU_NRF51_16K_S110) && !defined(TARGET_MCU_NRF51_32K_S110)
rgrover1 388:db85a09c27ef 89 virtual ble_error_t startRadioScan(const GapScanningParams &scanningParams) {
rgrover1 388:db85a09c27ef 90 ble_gap_scan_params_t scanParams = {
rgrover1 388:db85a09c27ef 91 .active = scanningParams.getActiveScanning(), /**< If 1, perform active scanning (scan requests). */
rgrover1 388:db85a09c27ef 92 .selective = 0, /**< If 1, ignore unknown devices (non whitelisted). */
rgrover1 388:db85a09c27ef 93 .p_whitelist = NULL, /**< Pointer to whitelist, NULL if none is given. */
rgrover1 388:db85a09c27ef 94 .interval = scanningParams.getInterval(), /**< Scan interval between 0x0004 and 0x4000 in 0.625ms units (2.5ms to 10.24s). */
rgrover1 388:db85a09c27ef 95 .window = scanningParams.getWindow(), /**< Scan window between 0x0004 and 0x4000 in 0.625ms units (2.5ms to 10.24s). */
rgrover1 388:db85a09c27ef 96 .timeout = scanningParams.getTimeout(), /**< Scan timeout between 0x0001 and 0xFFFF in seconds, 0x0000 disables timeout. */
rgrover1 388:db85a09c27ef 97 };
rgrover1 388:db85a09c27ef 98
rgrover1 388:db85a09c27ef 99 if (sd_ble_gap_scan_start(&scanParams) != NRF_SUCCESS) {
rgrover1 388:db85a09c27ef 100 return BLE_ERROR_PARAM_OUT_OF_RANGE;
rgrover1 388:db85a09c27ef 101 }
rgrover1 388:db85a09c27ef 102
rgrover1 388:db85a09c27ef 103 return BLE_ERROR_NONE;
rgrover1 388:db85a09c27ef 104 }
rgrover1 388:db85a09c27ef 105
rgrover1 388:db85a09c27ef 106 virtual ble_error_t stopScan(void) {
rgrover1 388:db85a09c27ef 107 if (sd_ble_gap_scan_stop() == NRF_SUCCESS) {
rgrover1 388:db85a09c27ef 108 return BLE_ERROR_NONE;
rgrover1 388:db85a09c27ef 109 }
rgrover1 388:db85a09c27ef 110
rgrover1 388:db85a09c27ef 111 return BLE_STACK_BUSY;
rgrover1 388:db85a09c27ef 112 }
rgrover1 430:db7edc9ad0bc 113 #endif
rgrover1 388:db85a09c27ef 114
rgrover1 388:db85a09c27ef 115 private:
rgrover1 479:f6e4a3f0a09a 116 bool radioNotificationCallbackParam; /* parameter to be passed into the Timeout-generated radio notification callback. */
rgrover1 479:f6e4a3f0a09a 117 Timeout radioNotificationTimeout;
rgrover1 479:f6e4a3f0a09a 118
rgrover1 479:f6e4a3f0a09a 119 /*
rgrover1 479:f6e4a3f0a09a 120 * A helper function to post radio notification callbacks with low interrupt priority.
rgrover1 479:f6e4a3f0a09a 121 */
rgrover1 479:f6e4a3f0a09a 122 void postRadioNotificationCallback(void) {
rgrover1 479:f6e4a3f0a09a 123 #ifdef YOTTA_CFG_MBED_OS
rgrover1 479:f6e4a3f0a09a 124 /*
rgrover1 479:f6e4a3f0a09a 125 * In mbed OS, all user-facing BLE events (interrupts) are posted to the
rgrover1 479:f6e4a3f0a09a 126 * MINAR scheduler to be executed as callbacks in thread mode. MINAR guards
rgrover1 479:f6e4a3f0a09a 127 * its critical sections from interrupts by acquiring CriticalSectionLock,
rgrover1 479:f6e4a3f0a09a 128 * which results in a call to sd_nvic_critical_region_enter(). Thus, it is
rgrover1 479:f6e4a3f0a09a 129 * safe to invoke MINAR APIs from interrupt context as long as those
rgrover1 479:f6e4a3f0a09a 130 * interrupts are blocked by sd_nvic_critical_region_enter().
rgrover1 479:f6e4a3f0a09a 131 *
rgrover1 479:f6e4a3f0a09a 132 * Radio notifications are a special case for the above. The Radio
rgrover1 479:f6e4a3f0a09a 133 * Notification IRQ is handled at a very high priority--higher than the
rgrover1 479:f6e4a3f0a09a 134 * level blocked by sd_nvic_critical_region_enter(). Thus Radio Notification
rgrover1 479:f6e4a3f0a09a 135 * events can preempt MINAR's critical sections. Using MINAR APIs (such as
rgrover1 479:f6e4a3f0a09a 136 * posting an event) directly in processRadioNotification() may result in a
rgrover1 479:f6e4a3f0a09a 137 * race condition ending in a hard-fault.
rgrover1 479:f6e4a3f0a09a 138 *
rgrover1 479:f6e4a3f0a09a 139 * The solution is to *not* call MINAR APIs directly from the Radio
rgrover1 479:f6e4a3f0a09a 140 * Notification handling; i.e. to do the bulk of RadioNotification
rgrover1 479:f6e4a3f0a09a 141 * processing at a reduced priority which respects MINAR's critical
rgrover1 479:f6e4a3f0a09a 142 * sections. Unfortunately, on a cortex-M0, there is no clean way to demote
rgrover1 479:f6e4a3f0a09a 143 * priority for the currently executing interrupt--we wouldn't want to
rgrover1 479:f6e4a3f0a09a 144 * demote the radio notification handling anyway because it is sensitive to
rgrover1 479:f6e4a3f0a09a 145 * timing, and the system expects to finish this handling very quickly. The
rgrover1 479:f6e4a3f0a09a 146 * workaround is to employ a Timeout to trigger
rgrover1 479:f6e4a3f0a09a 147 * postRadioNotificationCallback() after a very short delay (~0 us) and post
rgrover1 479:f6e4a3f0a09a 148 * the MINAR callback that context.
rgrover1 479:f6e4a3f0a09a 149 *
rgrover1 479:f6e4a3f0a09a 150 * !!!WARNING!!! Radio notifications are very time critical events. The
rgrover1 479:f6e4a3f0a09a 151 * current solution is expected to work under the assumption that
rgrover1 479:f6e4a3f0a09a 152 * postRadioNotificationCalback() will be executed BEFORE the next radio
rgrover1 479:f6e4a3f0a09a 153 * notification event is generated.
rgrover1 479:f6e4a3f0a09a 154 */
rgrover1 479:f6e4a3f0a09a 155 minar::Scheduler::postCallback(
rgrover1 479:f6e4a3f0a09a 156 mbed::util::FunctionPointer1<void, bool>(&radioNotificationCallback, &FunctionPointerWithContext<bool>::call).bind(radioNotificationCallbackParam)
rgrover1 479:f6e4a3f0a09a 157 );
rgrover1 479:f6e4a3f0a09a 158 #else
rgrover1 479:f6e4a3f0a09a 159 /*
rgrover1 479:f6e4a3f0a09a 160 * In mbed classic, all user-facing BLE events execute callbacks in interrupt
rgrover1 479:f6e4a3f0a09a 161 * mode. Radio Notifications are a special case because its IRQ is handled at
rgrover1 479:f6e4a3f0a09a 162 * a very high priority. Thus Radio Notification events can preempt other
rgrover1 479:f6e4a3f0a09a 163 * operations that require interaction with the SoftDevice such as advertising
rgrover1 479:f6e4a3f0a09a 164 * payload updates and changing the Gap state. Therefore, executing a Radio
rgrover1 479:f6e4a3f0a09a 165 * Notification callback directly from processRadioNotification() may result
rgrover1 479:f6e4a3f0a09a 166 * in a race condition ending in a hard-fault.
rgrover1 479:f6e4a3f0a09a 167 *
rgrover1 479:f6e4a3f0a09a 168 * The solution is to *not* execute the Radio Notification callback directly
rgrover1 479:f6e4a3f0a09a 169 * from the Radio Notification handling; i.e. to do the bulk of the
rgrover1 479:f6e4a3f0a09a 170 * Radio Notification processing at a reduced priority. Unfortunately, on a
rgrover1 479:f6e4a3f0a09a 171 * cortex-M0, there is no clean way to demote priority for the currently
rgrover1 479:f6e4a3f0a09a 172 * executing interrupt--we wouldn't want to demote the radio notification
rgrover1 479:f6e4a3f0a09a 173 * handling anyway because it is sensitive to timing, and the system expects
rgrover1 479:f6e4a3f0a09a 174 * to finish this handling very quickly. The workaround is to employ a Timeout
rgrover1 479:f6e4a3f0a09a 175 * to trigger postRadioNotificationCallback() after a very short delay (~0 us)
rgrover1 479:f6e4a3f0a09a 176 * and execute the callback in that context.
rgrover1 479:f6e4a3f0a09a 177 *
rgrover1 479:f6e4a3f0a09a 178 * !!!WARNING!!! Radio notifications are very time critical events. The
rgrover1 479:f6e4a3f0a09a 179 * current solution is expected to work under the assumption that
rgrover1 479:f6e4a3f0a09a 180 * postRadioNotificationCalback() will be executed BEFORE the next radio
rgrover1 479:f6e4a3f0a09a 181 * notification event is generated.
rgrover1 479:f6e4a3f0a09a 182 */
rgrover1 479:f6e4a3f0a09a 183 radioNotificationCallback.call(radioNotificationCallbackParam);
rgrover1 479:f6e4a3f0a09a 184 #endif /* #ifdef YOTTA_CFG_MBED_OS */
rgrover1 479:f6e4a3f0a09a 185 }
rgrover1 479:f6e4a3f0a09a 186
rgrover1 396:e5b0385fc6f1 187 /**
rgrover1 396:e5b0385fc6f1 188 * A helper function to process radio-notification events; to be called internally.
rgrover1 396:e5b0385fc6f1 189 * @param param [description]
rgrover1 396:e5b0385fc6f1 190 */
rgrover1 396:e5b0385fc6f1 191 void processRadioNotificationEvent(bool param) {
rgrover1 479:f6e4a3f0a09a 192 radioNotificationCallbackParam = param;
rgrover1 479:f6e4a3f0a09a 193 radioNotificationTimeout.attach_us(this, &nRF5xGap::postRadioNotificationCallback, 0);
rgrover1 396:e5b0385fc6f1 194 }
rgrover1 396:e5b0385fc6f1 195 friend void radioNotificationStaticCallback(bool param); /* allow invocations of processRadioNotificationEvent() */
rgrover1 396:e5b0385fc6f1 196
rgrover1 396:e5b0385fc6f1 197 private:
rgrover1 388:db85a09c27ef 198 uint16_t m_connectionHandle;
rgrover1 388:db85a09c27ef 199 nRF5xGap() {
rgrover1 388:db85a09c27ef 200 m_connectionHandle = BLE_CONN_HANDLE_INVALID;
rgrover1 388:db85a09c27ef 201 }
rgrover1 388:db85a09c27ef 202
rgrover1 388:db85a09c27ef 203 nRF5xGap(nRF5xGap const &);
rgrover1 388:db85a09c27ef 204 void operator=(nRF5xGap const &);
rgrover1 388:db85a09c27ef 205 };
rgrover1 388:db85a09c27ef 206
rgrover1 388:db85a09c27ef 207 #endif // ifndef __NRF5x_GAP_H__