feat(sleep): Allow the interrupt module to break epic_sleep

epicardium/drivers/sleep.c

@@ -210,5 +210,7 @@ void sleep_deepsleep(void)
 
 void epic_sleep(uint32_t ms)
 {
-	vTaskDelay(pdMS_TO_TICKS(ms));
+	/* Allow the interrupt module to break us out of a call to
+	 * epic_sleep() */
+	ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(ms));
 }

epicardium/user_core/interrupts.c

@@ -2,6 +2,7 @@
 #include "os/core.h"
 #include "epicardium.h"
 #include "api/interrupt-sender.h"
+#include "user_core/user_core.h"
 #include <assert.h>
 
 struct interrupt_priv {
@@ -45,6 +46,10 @@ void interrupt_trigger_sync(api_int_id_t id)
 		;
 
 	api_interrupt_trigger(id);
+
+	/* Break the dispatcher task out of a potential call
+	 * to epic_sleep() */
+	xTaskNotifyGive(dispatcher_task_id);
 out:
 	mutex_unlock(&interrupt_mutex);
 }
@@ -171,6 +176,10 @@ void vInterruptsTask(void *pvParameters)
 			interrupt_data.has_pending = false;
 		} else if (interrupt_data.int_enabled[current_irq]) {
 			api_interrupt_trigger(current_irq);
+
+			/* Break the dispatcher task out of a potential call
+			 * to epic_sleep() */
+			xTaskNotifyGive(dispatcher_task_id);
 		}
 
 		mutex_unlock(&interrupt_mutex);