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runtime (atsamd51): allow interrupts to wake the scheduler #1197

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Merged
merged 1 commit into from
Jul 4, 2020
Merged

runtime (atsamd51): allow interrupts to wake the scheduler #1197

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24 changes: 20 additions & 4 deletions src/runtime/runtime_atsamd51.go
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Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,9 @@ func sleepTicks(d timeUnit) {
for d != 0 {
ticks() // update timestamp
ticks := uint32(d)
timerSleep(ticks)
if !timerSleep(ticks) {
return
}
d -= timeUnit(ticks)
}
}
Expand All @@ -266,7 +268,9 @@ func ticks() timeUnit {
}

// ticks are in microseconds
func timerSleep(ticks uint32) {
// Returns true if the timer completed.
// Returns false if another interrupt occured which requires an early return to scheduler.
func timerSleep(ticks uint32) bool {
timerWakeup.Set(0)
if ticks < 8 {
// due to delay waiting for the register value to sync, the minimum sleep value
Expand All @@ -287,8 +291,20 @@ func timerSleep(ticks uint32) {
// enable IRQ for CMP0 compare
sam.RTC_MODE0.INTENSET.SetBits(sam.RTC_MODE0_INTENSET_CMP0)

for timerWakeup.Get() == 0 {
arm.Asm("wfi")
wait:
arm.Asm("wfe")
if timerWakeup.Get() != 0 {
return true
}
if hasScheduler {
// The interurpt may have awoken a goroutine, so bail out early.
// Disable IRQ for CMP0 compare.
sam.RTC_MODE0.INTENCLR.SetBits(sam.RTC_MODE0_INTENSET_CMP0)
return false
} else {
// This is running without a scheduler.
// The application expects this to sleep the whole time.
goto wait
}
}

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