Tickless mode fixed hopefully.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7837 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 52 insertions, 75 deletions

diff --git a/demos/STM32/RT-STM32F407-DISCOVERY/Makefile b/demos/STM32/RT-STM32F407-DISCOVERY/Makefile
index dbdde6a0a..e56e7e88c 100644
--- a/demos/STM32/RT-STM32F407-DISCOVERY/Makefile
+++ b/demos/STM32/RT-STM32F407-DISCOVERY/Makefile
@@ -5,7 +5,7 @@
 

 # Compiler options here.

 ifeq ($(USE_OPT),)

-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16

+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16

 endif

 

 # C specific options here (added to USE_OPT).

diff --git a/demos/STM32/RT-STM32F407-DISCOVERY/main.c b/demos/STM32/RT-STM32F407-DISCOVERY/main.c
index dbcebbba9..34e504aeb 100644
--- a/demos/STM32/RT-STM32F407-DISCOVERY/main.c
+++ b/demos/STM32/RT-STM32F407-DISCOVERY/main.c
@@ -35,31 +35,6 @@ static THD_FUNCTION(Thread1, arg) {
   }

 }

 

-virtual_timer_t vt1, vt2, vt3;

-

-static void cb1(void *p) {

-

-  (void)p;

-  chSysLockFromISR();

-//  if (chVTIsArmedI(&vt1))

-//    chVTDoResetI(&vt1);

-  chSysUnlockFromISR();

-}

-

-static void cb2(void *p) {

-

-  (void)p;

-  chSysLockFromISR();

-//  if (!chVTIsArmedI(&vt3))

-//    chVTDoSetI(&vt3, 19, cb1, NULL);

-  chSysUnlockFromISR();

-}

-

-static void cb3(void *p) {

-

-  (void)p;

-}

-

 /*

  * Application entry point.

  */

@@ -95,12 +70,5 @@ int main(void) {
   while (TRUE) {

     if (palReadPad(GPIOA, GPIOA_BUTTON))

       TestThread(&SD2);

-    chVTSet(&vt1, 7, cb1, NULL);

-    chThdSleep(5);

-    chSysLock();

-    if (!chVTIsArmedI(&vt2))

-      chVTDoSetI(&vt2, 13, cb2, NULL);

-    chSysUnlock();

-//    chVTReset(&vt1);

   }

 }

diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index 9f52687ee..1d7661cb9 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -162,21 +162,17 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
  * @iclass

  */

 void chVTDoResetI(virtual_timer_t *vtp) {

-#if CH_CFG_ST_TIMEDELTA > 0

-  virtual_timer_t *first;

-#endif

 

   chDbgCheckClassI();

   chDbgCheck(vtp != NULL);

   chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");

 

-  /* Checking if the element to be removed was the first in the list.*/

-#if CH_CFG_ST_TIMEDELTA > 0

-  first = ch.vtlist.vt_next;

-#endif

+#if CH_CFG_ST_TIMEDELTA == 0

 

-  /* Removing the element from the delta list.*/

+  /* The delta of the timer is added to the next timer.*/

   vtp->vt_next->vt_delta += vtp->vt_delta;

+

+ /* Removing the element from the delta list.*/

   vtp->vt_prev->vt_next = vtp->vt_next;

   vtp->vt_next->vt_prev = vtp->vt_prev;

   vtp->vt_func = NULL;

@@ -184,50 +180,63 @@ void chVTDoResetI(virtual_timer_t *vtp) {
   /* The above code changes the value in the header when the removed element

      is the last of the list, restoring it.*/

   ch.vtlist.vt_delta = (systime_t)-1;

+#else /* CH_CFG_ST_TIMEDELTA > 0 */

+  systime_t nowdelta, delta;

 

-#if CH_CFG_ST_TIMEDELTA > 0

-  {

-    systime_t nowdelta, delta;

+  /* If the timer is not the first of the list then it is simply unlinked

+     else the operation is more complex.*/

+  if (ch.vtlist.vt_next != vtp) {

+    /* Removing the element from the delta list.*/

+    vtp->vt_prev->vt_next = vtp->vt_next;

+    vtp->vt_next->vt_prev = vtp->vt_prev;

+    vtp->vt_func = NULL;

 

-    /* Just removed the last element in the list, alarm timer stopped and

-       return.*/

-    if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {

-      port_timer_stop_alarm();

-      return;

-    }

+    /* The above code can change the value in the header when the removed

+       element is the last of the list, restoring it.*/

+    ch.vtlist.vt_delta = (systime_t)-1;

 

-    /* If the removed element was not the first one then just return, the

-       alarm is already set to the first element.*/

-    if (vtp != first) {

-      return;

-    }

+    return;

+  }

 

-    /* If the new first element has a delta of zero then the alarm is not

-       modified, the already programmed alarm will serve it.*/

-    if (ch.vtlist.vt_next->vt_delta == 0) {

-      return;

-    }

+  /* Removing the first timer from the list.*/

+  ch.vtlist.vt_next = vtp->vt_next;

+  ch.vtlist.vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;

 

-    /* Distance in ticks between the last alarm event and current time.*/

-    nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;

+  /* If the list become empty then the alarm timer is stopped and done.*/

+  if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {

+    port_timer_stop_alarm();

 

-    /* If the current time surpassed the time of the next element in list

-       then the event interrupt is already pending, just return.*/

-    if (nowdelta >= ch.vtlist.vt_next->vt_delta) {

-      return;

-    }

+    return;

+  }

 

-    /* Distance from the next scheduled event and now.*/

-    delta = ch.vtlist.vt_next->vt_delta - nowdelta;

+  /* The delta of the removed timer is added to the new first timer.*/

+  ch.vtlist.vt_next->vt_delta += vtp->vt_delta;

 

-    /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA

-       ticks from now.*/

-    if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

-      delta = (systime_t)CH_CFG_ST_TIMEDELTA;

-    }

+  /* If the new first timer has a delta of zero then the alarm is not

+     modified, the already programmed alarm will serve it.*/

+  if (ch.vtlist.vt_next->vt_delta == 0) {

+    return;

+  }

 

-    port_timer_set_alarm(ch.vtlist.vt_lasttime + nowdelta + delta);

+  /* Distance in ticks between the last alarm event and current time.*/

+  nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;

+

+  /* If the current time surpassed the time of the next element in list

+     then the event interrupt is already pending, just return.*/

+  if (nowdelta >= ch.vtlist.vt_next->vt_delta) {

+    return;

   }

+

+  /* Distance from the next scheduled event and now.*/

+  delta = ch.vtlist.vt_next->vt_delta - nowdelta;

+

+  /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA

+     ticks from now.*/

+  if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

+    delta = (systime_t)CH_CFG_ST_TIMEDELTA;

+  }

+

+  port_timer_set_alarm(ch.vtlist.vt_lasttime + nowdelta + delta);

 #endif /* CH_CFG_ST_TIMEDELTA > 0 */

 }