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Fix race in sleep with interrupts (#519)

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* Interrupts occurring during sleep-setup possibly fail to wake mcu
* Detach interrupt handler in interrupt handler to correctly handle
level-interrupts
This commit is contained in:
Embedded Innovation
2016-07-17 09:52:56 +02:00
committed by Olivier
parent f0f2542df4
commit 1305aeca8a
1 changed files with 48 additions and 40 deletions
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core/MyHwATMega328.cpp
+48 -40
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@@ -21,15 +21,26 @@
#include "MyHwATMega328.h"
volatile int8_t pinIntTrigger = 0;
#define INVALID_INTERRUPT_NUM (0xFFu)
void wakeUp() //place to send the interrupts
volatile uint8_t _wokeUpByInterrupt = INVALID_INTERRUPT_NUM; // Interrupt number that woke the mcu.
volatile uint8_t _wakeUp1Interrupt = INVALID_INTERRUPT_NUM; // Interrupt number for wakeUp1-callback.
volatile uint8_t _wakeUp2Interrupt = INVALID_INTERRUPT_NUM; // Interrupt number for wakeUp2-callback.
void wakeUp1() //place to send the interrupts
{
pinIntTrigger = 1;
detachInterrupt(_wakeUp1Interrupt);
_wokeUpByInterrupt = _wakeUp1Interrupt;
}
void wakeUp2() //place to send the second interrupts
{
pinIntTrigger = 2;
detachInterrupt(_wakeUp2Interrupt);
_wokeUpByInterrupt = _wakeUp2Interrupt;
}
bool interruptWakeUp()
{
return _wokeUpByInterrupt != INVALID_INTERRUPT_NUM;
}
// Watchdog Timer interrupt service routine. This routine is required
@@ -39,7 +50,6 @@ ISR (WDT_vect)
}
void hwPowerDown(period_t period) {
// disable ADC for power saving
ADCSRA &= ~(1 << ADEN);
// save WDT settings
@@ -56,11 +66,12 @@ void hwPowerDown(period_t period) {
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
cli();
sleep_enable();
#if defined __AVR_ATmega328P__
sleep_bod_disable();
#endif
#if defined __AVR_ATmega328P__
sleep_bod_disable();
#endif
// Enable interrupts & sleep until WDT or ext. interrupt
sei();
// sleep until WDT or ext. interrupt
// Directly sleep CPU, to prevent race conditions! (see chapter 7.7 of ATMega328P datasheet)
sleep_cpu();
sleep_disable();
// restore previous WDT settings
@@ -77,21 +88,19 @@ void hwPowerDown(period_t period) {
void hwInternalSleep(unsigned long ms) {
// Let serial prints finish (debug, log etc)
#ifndef MY_DISABLED_SERIAL
MY_SERIALDEVICE.flush();
#endif
// reset interrupt trigger var
pinIntTrigger = 0;
while (!pinIntTrigger && ms >= 8000) { hwPowerDown(SLEEP_8S); ms -= 8000; }
if (!pinIntTrigger && ms >= 4000) { hwPowerDown(SLEEP_4S); ms -= 4000; }
if (!pinIntTrigger && ms >= 2000) { hwPowerDown(SLEEP_2S); ms -= 2000; }
if (!pinIntTrigger && ms >= 1000) { hwPowerDown(SLEEP_1S); ms -= 1000; }
if (!pinIntTrigger && ms >= 500) { hwPowerDown(SLEEP_500MS); ms -= 500; }
if (!pinIntTrigger && ms >= 250) { hwPowerDown(SLEEP_250MS); ms -= 250; }
if (!pinIntTrigger && ms >= 125) { hwPowerDown(SLEEP_120MS); ms -= 120; }
if (!pinIntTrigger && ms >= 64) { hwPowerDown(SLEEP_60MS); ms -= 60; }
if (!pinIntTrigger && ms >= 32) { hwPowerDown(SLEEP_30MS); ms -= 30; }
if (!pinIntTrigger && ms >= 16) { hwPowerDown(SLEEP_15MS); ms -= 15; }
#ifndef MY_DISABLED_SERIAL
MY_SERIALDEVICE.flush();
#endif
while (!interruptWakeUp() && ms >= 8000) { hwPowerDown(SLEEP_8S); ms -= 8000; }
if (!interruptWakeUp() && ms >= 4000) { hwPowerDown(SLEEP_4S); ms -= 4000; }
if (!interruptWakeUp() && ms >= 2000) { hwPowerDown(SLEEP_2S); ms -= 2000; }
if (!interruptWakeUp() && ms >= 1000) { hwPowerDown(SLEEP_1S); ms -= 1000; }
if (!interruptWakeUp() && ms >= 500) { hwPowerDown(SLEEP_500MS); ms -= 500; }
if (!interruptWakeUp() && ms >= 250) { hwPowerDown(SLEEP_250MS); ms -= 250; }
if (!interruptWakeUp() && ms >= 125) { hwPowerDown(SLEEP_120MS); ms -= 120; }
if (!interruptWakeUp() && ms >= 64) { hwPowerDown(SLEEP_60MS); ms -= 60; }
if (!interruptWakeUp() && ms >= 32) { hwPowerDown(SLEEP_30MS); ms -= 30; }
if (!interruptWakeUp() && ms >= 16) { hwPowerDown(SLEEP_15MS); ms -= 15; }
}
int8_t hwSleep(unsigned long ms) {
@@ -100,15 +109,18 @@ int8_t hwSleep(unsigned long ms) {
}
int8_t hwSleep(uint8_t interrupt, uint8_t mode, unsigned long ms) {
return hwSleep(interrupt,mode,0xFF,0x00,ms);
return hwSleep(interrupt,mode,INVALID_INTERRUPT_NUM,0u,ms);
}
int8_t hwSleep(uint8_t interrupt1, uint8_t mode1, uint8_t interrupt2, uint8_t mode2, unsigned long ms) {
// reset interrupt trigger var
pinIntTrigger = 0;
// Disable interrupts until going to sleep, otherwise interrupts occurring between attachInterrupt()
// and sleep might cause the ATMega to not wakeup from sleep as interrupt has already be handled!
cli();
// attach interrupts
attachInterrupt(interrupt1, wakeUp, mode1);
if (interrupt2!=0xFF) attachInterrupt(interrupt2, wakeUp2, mode2);
_wakeUp1Interrupt = interrupt1;
_wakeUp2Interrupt = interrupt2;
if (interrupt1 != INVALID_INTERRUPT_NUM) attachInterrupt(interrupt1, wakeUp1, mode1);
if (interrupt2 != INVALID_INTERRUPT_NUM) attachInterrupt(interrupt2, wakeUp2, mode2);
if (ms>0) {
// sleep for defined time
@@ -118,18 +130,14 @@ int8_t hwSleep(uint8_t interrupt1, uint8_t mode1, uint8_t interrupt2, uint8_t mo
hwPowerDown(SLEEP_FOREVER);
}
detachInterrupt(interrupt1);
if (interrupt2!=0xFF) detachInterrupt(interrupt2);
// default: no interrupt triggered, timer wake up
int8_t retVal = -1;
// Return what woke the mcu.
int ret = -1; // default: no interrupt triggered, timer wake up
if (interruptWakeUp()) ret = static_cast<int8_t>(_wokeUpByInterrupt);
if (pinIntTrigger == 1) {
retVal = (int8_t)interrupt1;
} else if (pinIntTrigger == 2) {
retVal = (int8_t)interrupt2;
}
return retVal;
// Clear woke-up-by-interrupt flag, so next sleeps won't return immediately.
_wokeUpByInterrupt = INVALID_INTERRUPT_NUM;
return ret;
}
uint16_t hwCPUVoltage() {