Diff: source/nRF5xGap.h

Revision:

526:ec7b14ac1522

Parent:

525:d76f1c3f4599

Child:

541:884f95bf5351

--- a/source/nRF5xGap.h	Wed Dec 02 13:14:17 2015 +0000
+++ b/source/nRF5xGap.h	Wed Dec 02 13:14:17 2015 +0000
@@ -113,64 +113,84 @@
 #endif
 
 private:
-#ifdef YOTTA_CFG_MBED_OS
-    /*
-     * In mbed OS, all user-facing BLE events (interrupts) are posted to the
-     * MINAR scheduler to be executed as callbacks in thread mode. MINAR guards
-     * its critical sections from interrupts by acquiring CriticalSectionLock,
-     * which results in a call to sd_nvic_critical_region_enter(). Thus, it is
-     * safe to invoke MINAR APIs from interrupt context as long as those
-     * interrupts are blocked by sd_nvic_critical_region_enter().
-     *
-     * Radio notifications are a special case for the above. The Radio
-     * Notification IRQ is handled at a very high priority--higher than the
-     * level blocked by sd_nvic_critical_region_enter(). Thus Radio Notification
-     * events can preempt MINAR's critical sections. Using MINAR APIs (such as
-     * posting an event) directly in processRadioNotification() may result in a
-     * race condition ending in a hard-fault.
-     *
-     * The solution is to *not* call MINAR APIs directly from the Radio
-     * Notification handling; i.e. to do the bulk of RadioNotification
-     * processing at a reduced priority which respects MINAR's critical
-     * sections. Unfortunately, on a cortex-M0, there is no clean way to demote
-     * priority for the currently executing interrupt--we wouldn't want to
-     * demote the radio notification handling anyway because it is sensitive to
-     * timing, and the system expects to finish this handling very quickly. The
-     * workaround is to employ a Timeout to trigger
-     * postRadioNotificationCallback() after a very short delay (~0 us) and post
-     * the MINAR callback that context.
-     *
-     * !!!WARNING!!! Radio notifications are very time critical events. The
-     * current solution is expected to work under the assumption that
-     * postRadioNotificationCalback() will be executed BEFORE the next radio
-     * notification event is generated.
-     */
-
     bool    radioNotificationCallbackParam; /* parameter to be passed into the Timeout-generated radio notification callback. */
     Timeout radioNotificationTimeout;
 
     /*
-     * A helper function to post radio notification callbacks through MINAR when using mbed OS.
+     * A helper function to post radio notification callbacks with low interrupt priority.
      */
     void postRadioNotificationCallback(void) {
+#ifdef YOTTA_CFG_MBED_OS
+        /*
+         * In mbed OS, all user-facing BLE events (interrupts) are posted to the
+         * MINAR scheduler to be executed as callbacks in thread mode. MINAR guards
+         * its critical sections from interrupts by acquiring CriticalSectionLock,
+         * which results in a call to sd_nvic_critical_region_enter(). Thus, it is
+         * safe to invoke MINAR APIs from interrupt context as long as those
+         * interrupts are blocked by sd_nvic_critical_region_enter().
+         *
+         * Radio notifications are a special case for the above. The Radio
+         * Notification IRQ is handled at a very high priority--higher than the
+         * level blocked by sd_nvic_critical_region_enter(). Thus Radio Notification
+         * events can preempt MINAR's critical sections. Using MINAR APIs (such as
+         * posting an event) directly in processRadioNotification() may result in a
+         * race condition ending in a hard-fault.
+         *
+         * The solution is to *not* call MINAR APIs directly from the Radio
+         * Notification handling; i.e. to do the bulk of RadioNotification
+         * processing at a reduced priority which respects MINAR's critical
+         * sections. Unfortunately, on a cortex-M0, there is no clean way to demote
+         * priority for the currently executing interrupt--we wouldn't want to
+         * demote the radio notification handling anyway because it is sensitive to
+         * timing, and the system expects to finish this handling very quickly. The
+         * workaround is to employ a Timeout to trigger
+         * postRadioNotificationCallback() after a very short delay (~0 us) and post
+         * the MINAR callback that context.
+         *
+         * !!!WARNING!!! Radio notifications are very time critical events. The
+         * current solution is expected to work under the assumption that
+         * postRadioNotificationCalback() will be executed BEFORE the next radio
+         * notification event is generated.
+         */
         minar::Scheduler::postCallback(
             mbed::util::FunctionPointer1<void, bool>(&radioNotificationCallback, &FunctionPointerWithContext<bool>::call).bind(radioNotificationCallbackParam)
         );
+#else
+        /*
+         * In mbed classic, all user-facing BLE events execute callbacks in interrupt
+         * mode. Radio Notifications are a special case because its IRQ is handled at
+         * a very high priority. Thus Radio Notification events can preempt other
+         * operations that require interaction with the SoftDevice such as advertising
+         * payload updates and changing the Gap state. Therefore, executing a Radio
+         * Notification callback directly from processRadioNotification() may result
+         * in a race condition ending in a hard-fault.
+         *
+         * The solution is to *not* execute the Radio Notification callback directly
+         * from the Radio Notification handling; i.e. to do the bulk of the
+         * Radio Notification processing at a reduced priority. Unfortunately, on a
+         * cortex-M0, there is no clean way to demote priority for the currently
+         * executing interrupt--we wouldn't want to demote the radio notification
+         * handling anyway because it is sensitive to timing, and the system expects
+         * to finish this handling very quickly. The workaround is to employ a Timeout
+         * to trigger postRadioNotificationCallback() after a very short delay (~0 us)
+         * and execute the callback in that context.
+         *
+         * !!!WARNING!!! Radio notifications are very time critical events. The
+         * current solution is expected to work under the assumption that
+         * postRadioNotificationCalback() will be executed BEFORE the next radio
+         * notification event is generated.
+         */
+        radioNotificationCallback.call(radioNotificationCallbackParam);
+#endif /* #ifdef YOTTA_CFG_MBED_OS */
     }
-#endif /* #ifdef YOTTA_CFG_MBED_OS */
 
     /**
      * A helper function to process radio-notification events; to be called internally.
      * @param param [description]
      */
     void processRadioNotificationEvent(bool param) {
-#ifdef YOTTA_CFG_MBED_OS
-        /* When using mbed OS the callback to the user-defined function will be posted through minar */
         radioNotificationCallbackParam = param;
         radioNotificationTimeout.attach_us(this, &nRF5xGap::postRadioNotificationCallback, 0);
-#else
-        radioNotificationCallback.call(param);
-#endif
     }
     friend void radioNotificationStaticCallback(bool param); /* allow invocations of processRadioNotificationEvent() */