Fixed numeruous bus in CC26xx-CC13xx lpm

Bug fixes include:
- keep interrupts disabled during lpm_sleep() so that we don't
  miss any interrupts we may have been expecting
- check that the pending etimer isn't already expired (and don't sleep
  at all if it is)
- check that the about-to-be scheduled rtimer wakeup is neither too
  far into  the future nor too close into the future (or even in the
  past) before actually setting the interrupt (should fix #1509); If
  the time is out of bounds we use a default min or max value instead.
- Correctly handle LPM_MODE_MAX_SUPPORTED set to zero (and added a
  macro for the zero value) so that sleeping can be disabled altogether
- If no etimer is set, we specify a wakeup time which is reasonably far
  into the future instead of setting none at all (this will save on
  power consumption whenever no etimers are set).

Also did a bit of refactoring in that some long functions were broken
into multiple functions.

cpu/cc26xx-cc13xx/lpm.c

@@ -76,6 +76,11 @@ LIST(modules_list);
  * in less than STANDBY_MIN_DURATION rtimer ticks
  */
 #define STANDBY_MIN_DURATION  (RTIMER_SECOND >> 11)
+#define MINIMAL_SAFE_SCHEDUAL 8u
+#define MAX_SLEEP_TIME        RTIMER_SECOND
+#define DEFAULT_SLEEP_TIME    RTIMER_SECOND
+/*---------------------------------------------------------------------------*/
+#define CLK_TO_RT(c) ((c) * (RTIMER_SECOND / CLOCK_SECOND))
 /*---------------------------------------------------------------------------*/
 /* Prototype of a function in clock.c. Called every time we come out of DS */
 void clock_update(void);
@@ -234,57 +239,12 @@ wake_up(void)
   }
 }
 /*---------------------------------------------------------------------------*/
-void
+static void
-lpm_drop()
+deep_sleep(void)
 {
-  lpm_registered_module_t *module;
-  uint8_t max_pm = LPM_MODE_MAX_SUPPORTED;
-  uint8_t module_pm;
-  clock_time_t next_event;
-
   uint32_t domains = LOCKABLE_DOMAINS;
+  lpm_registered_module_t *module;
 
-  /* Critical. Don't get interrupted! */
-  ti_lib_int_master_disable();
-
-  /* Check if any events fired before we turned interrupts off. If so, abort */
-  if(process_nevents()) {
-    ti_lib_int_master_enable();
-    return;
-  }
-
-  if(RTIMER_CLOCK_LT(soc_rtc_get_next_trigger(),
-                     RTIMER_NOW() + STANDBY_MIN_DURATION)) {
-    ti_lib_int_master_enable();
-    lpm_sleep();
-    return;
-  }
-
-  /* Collect max allowed PM permission from interested modules */
-  for(module = list_head(modules_list); module != NULL;
-      module = module->next) {
-    if(module->request_max_pm) {
-      module_pm = module->request_max_pm();
-      if(module_pm < max_pm) {
-        max_pm = module_pm;
-      }
-    }
-  }
-
-  /* Reschedule AON RTC CH1 to fire just in time for the next etimer event */
-  next_event = etimer_next_expiration_time();
-
-  if(etimer_pending()) {
-    next_event = next_event - clock_time();
-    soc_rtc_schedule_one_shot(AON_RTC_CH1, soc_rtc_last_isr_time() +
-                              (next_event * (RTIMER_SECOND / CLOCK_SECOND)));
-  }
-
-  /* Drop */
-  if(max_pm == LPM_MODE_SLEEP) {
-    ti_lib_int_master_enable();
-    lpm_sleep();
-  } else {
   /*
    * Notify all registered modules that we are dropping to mode X. We do not
    * need to do this for simple sleep.
@@ -302,7 +262,7 @@ lpm_drop()
   for(module = list_head(modules_list); module != NULL;
       module = module->next) {
     if(module->shutdown) {
-        module->shutdown(max_pm);
+      module->shutdown(LPM_MODE_DEEP_SLEEP);
     }
 
     /* Clear the bits specified in the lock */
@@ -409,9 +369,109 @@ lpm_drop()
    * unpending events so the handlers can fire
    */
   wake_up();
+}
+/*---------------------------------------------------------------------------*/
+static void
+safe_schedule_rtimer(rtimer_clock_t time, rtimer_clock_t now, int pm)
+{
+  rtimer_clock_t min_sleep;
+  rtimer_clock_t max_sleep;
+
+  min_sleep = now + MINIMAL_SAFE_SCHEDUAL;
+  max_sleep = now + MAX_SLEEP_TIME;
+
+  if(RTIMER_CLOCK_LT(time, min_sleep)) {
+    /* ensure that we schedule sleep a minimal number of ticks into the
+       future */
+    soc_rtc_schedule_one_shot(AON_RTC_CH1, min_sleep);
+  } else if((pm == LPM_MODE_SLEEP) && RTIMER_CLOCK_LT(max_sleep, time)) {
+    /* if max_pm is LPM_MODE_SLEEP, we could trigger the watchdog if we slept
+       for too long. */
+    soc_rtc_schedule_one_shot(AON_RTC_CH1, max_sleep);
+  } else {
+    soc_rtc_schedule_one_shot(AON_RTC_CH1, time);
+  }
+}
+/*---------------------------------------------------------------------------*/
+static int
+setup_sleep_mode(void)
+{
+  rtimer_clock_t et_distance = 0;
+
+  lpm_registered_module_t *module;
+  int max_pm;
+  int module_pm;
+  int etimer_is_pending;
+  rtimer_clock_t now;
+  rtimer_clock_t et_time;
+  rtimer_clock_t next_trig;
+
+  max_pm = LPM_MODE_MAX_SUPPORTED;
+  now = RTIMER_NOW();
+
+  if((LPM_MODE_MAX_SUPPORTED == LPM_MODE_AWAKE) || process_nevents()) {
+    return LPM_MODE_AWAKE;
+  }
+
+  etimer_is_pending = etimer_pending();
+
+  if(etimer_is_pending) {
+    et_distance = CLK_TO_RT(etimer_next_expiration_time() - clock_time());
+
+    if(RTIMER_CLOCK_LT(et_distance, 1)) {
+      /* there is an etimer which is already expired; we shouldn't go to
+         sleep at all */
+      return LPM_MODE_AWAKE;
+    }
+  }
+
+  next_trig = soc_rtc_get_next_trigger();
+  if(RTIMER_CLOCK_LT(next_trig, now + STANDBY_MIN_DURATION)) {
+    return LPM_MODE_SLEEP;
+  }
+
+  /* Collect max allowed PM permission from interested modules */
+  for(module = list_head(modules_list); module != NULL;
+      module = module->next) {
+    if(module->request_max_pm) {
+      module_pm = module->request_max_pm();
+      if(module_pm < max_pm) {
+        max_pm = module_pm;
+      }
+    }
+  }
+
+  /* Reschedule AON RTC CH1 to fire just in time for the next etimer event */
+  if(etimer_is_pending) {
+    et_time = soc_rtc_last_isr_time() + et_distance;
+
+    safe_schedule_rtimer(et_time, now, max_pm);
+  } else {
+    /* set a maximal sleep period if no etimers are queued */
+    soc_rtc_schedule_one_shot(AON_RTC_CH1, now + DEFAULT_SLEEP_TIME);
+  }
+
+  return max_pm;
+}
+/*---------------------------------------------------------------------------*/
+void
+lpm_drop()
+{
+  uint8_t max_pm;
+
+  /* Critical. Don't get interrupted! */
+  ti_lib_int_master_disable();
+
+  max_pm = setup_sleep_mode();
+
+  /* Drop */
+  if(max_pm == LPM_MODE_SLEEP) {
+    lpm_sleep();
+  } else if(max_pm == LPM_MODE_DEEP_SLEEP) {
+    deep_sleep();
+  }
 
   ti_lib_int_master_enable();
-  }
 }
 /*---------------------------------------------------------------------------*/
 void

cpu/cc26xx-cc13xx/lpm.h

@@ -49,6 +49,7 @@
 
 #include <stdint.h>
 /*---------------------------------------------------------------------------*/
+#define LPM_MODE_AWAKE         0
 #define LPM_MODE_SLEEP         1
 #define LPM_MODE_DEEP_SLEEP    2
 #define LPM_MODE_SHUTDOWN      3