Started renaming the types to follow the _t convention.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@5988 35acf78f-673a-0410-8e92-d51de3d6d3f4

13 files changed, 152 insertions, 138 deletions

diff --git a/os/kernel/include/chcond.h b/os/kernel/include/chcond.h
index 7557243cd..202f4125c 100644
--- a/os/kernel/include/chcond.h
+++ b/os/kernel/include/chcond.h
@@ -45,7 +45,7 @@
  * @brief   CondVar structure.

  */

 typedef struct CondVar {

-  ThreadsQueue          c_queue;        /**< @brief CondVar threads queue.*/

+  threads_queue_t       c_queue;        /**< @brief CondVar threads queue.*/

 } CondVar;

 

 #ifdef __cplusplus

@@ -73,7 +73,7 @@ extern "C" {
  *

  * @param[in] name      the name of the condition variable

  */

-#define _CONDVAR_DATA(name) {_THREADSQUEUE_DATA(name.c_queue)}

+#define _CONDVAR_DATA(name) {_threads_queue_t_DATA(name.c_queue)}

 

 /**

  * @brief Static condition variable initializer.

diff --git a/os/kernel/include/chlists.h b/os/kernel/include/chlists.h
index e47f0b704..2698b2129 100644
--- a/os/kernel/include/chlists.h
+++ b/os/kernel/include/chlists.h
@@ -56,7 +56,7 @@
  *

  * @param[in] name      the name of the threads queue variable

  */

-#define _THREADSQUEUE_DATA(name) {(Thread *)&name, (Thread *)&name}

+#define _threads_queue_t_DATA(name) {(Thread *)&name, (Thread *)&name}

 

 /**

  * @brief   Static threads queue initializer.

@@ -65,7 +65,7 @@
  *

  * @param[in] name      the name of the threads queue variable

  */

-#define THREADSQUEUE_DECL(name) ThreadsQueue name = _THREADSQUEUE_DATA(name)

+#define threads_queue_t_DECL(name) threads_queue_t name = _threads_queue_t_DATA(name)

 

 /*===========================================================================*/

 /* External declarations.                                                    */

@@ -80,7 +80,7 @@
  *

  * @notapi

  */

-static inline void list_init(ThreadsList *tlp) {

+static inline void list_init(threads_list_t *tlp) {

 

   tlp->p_next = (Thread *)tlp;

 }

@@ -90,7 +90,7 @@ static inline void list_init(ThreadsList *tlp) {
  *

  * @notapi

  */

-static inline bool_t list_isempty(ThreadsList *tlp) {

+static inline bool_t list_isempty(threads_list_t *tlp) {

 

   return (bool_t)(tlp->p_next == (Thread *)tlp);

 }

@@ -100,7 +100,7 @@ static inline bool_t list_isempty(ThreadsList *tlp) {
  *

  * @notapi

  */

-static inline bool_t list_notempty(ThreadsList *tlp) {

+static inline bool_t list_notempty(threads_list_t *tlp) {

 

   return (bool_t)(tlp->p_next != (Thread *)tlp);

 }

@@ -110,7 +110,7 @@ static inline bool_t list_notempty(ThreadsList *tlp) {
  *

  * @notapi

  */

-static inline void queue_init(ThreadsQueue *tqp) {

+static inline void queue_init(threads_queue_t *tqp) {

 

   tqp->p_next = tqp->p_prev = (Thread *)tqp;

 }

@@ -120,7 +120,7 @@ static inline void queue_init(ThreadsQueue *tqp) {
  *

  * @notapi

  */

-static inline bool_t queue_isempty(ThreadsQueue *tqp) {

+static inline bool_t queue_isempty(threads_queue_t *tqp) {

 

   return (bool_t)(tqp->p_next == (Thread *)tqp);

 }

@@ -130,7 +130,7 @@ static inline bool_t queue_isempty(ThreadsQueue *tqp) {
  *

  * @notapi

  */

-static inline bool_t queue_notempty(ThreadsQueue *tqp) {

+static inline bool_t queue_notempty(threads_queue_t *tqp) {

 

   return (bool_t)(tqp->p_next != (Thread *)tqp);

 }

@@ -138,20 +138,20 @@ static inline bool_t queue_notempty(ThreadsQueue *tqp) {
 /* If the performance code path has been chosen then all the following

    functions are inlined into the various kernel modules.*/

 #if CH_OPTIMIZE_SPEED

-static inline void list_insert(Thread *tp, ThreadsList *tlp) {

+static inline void list_insert(Thread *tp, threads_list_t *tlp) {

 

   tp->p_next = tlp->p_next;

   tlp->p_next = tp;

 }

 

-static inline Thread *list_remove(ThreadsList *tlp) {

+static inline Thread *list_remove(threads_list_t *tlp) {

 

   Thread *tp = tlp->p_next;

   tlp->p_next = tp->p_next;

   return tp;

 }

 

-static inline void queue_prio_insert(Thread *tp, ThreadsQueue *tqp) {

+static inline void queue_prio_insert(Thread *tp, threads_queue_t *tqp) {

 

   Thread *cp = (Thread *)tqp;

   do {

@@ -162,21 +162,21 @@ static inline void queue_prio_insert(Thread *tp, ThreadsQueue *tqp) {
   tp->p_prev->p_next = cp->p_prev = tp;

 }

 

-static inline void queue_insert(Thread *tp, ThreadsQueue *tqp) {

+static inline void queue_insert(Thread *tp, threads_queue_t *tqp) {

 

   tp->p_next = (Thread *)tqp;

   tp->p_prev = tqp->p_prev;

   tp->p_prev->p_next = tqp->p_prev = tp;

 }

 

-static inline Thread *queue_fifo_remove(ThreadsQueue *tqp) {

+static inline Thread *queue_fifo_remove(threads_queue_t *tqp) {

   Thread *tp = tqp->p_next;

 

   (tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;

   return tp;

 }

 

-static inline Thread *queue_lifo_remove(ThreadsQueue *tqp) {

+static inline Thread *queue_lifo_remove(threads_queue_t *tqp) {

   Thread *tp = tqp->p_prev;

 

   (tqp->p_prev = tp->p_prev)->p_next = (Thread *)tqp;

diff --git a/os/kernel/include/chmtx.h b/os/kernel/include/chmtx.h
index 00ebb2a23..2d271153a 100644
--- a/os/kernel/include/chmtx.h
+++ b/os/kernel/include/chmtx.h
@@ -35,7 +35,7 @@
  * @brief   Mutex structure.

  */

 typedef struct Mutex {

-  ThreadsQueue          m_queue;    /**< @brief Queue of the threads sleeping

+  threads_queue_t       m_queue;    /**< @brief Queue of the threads sleeping

                                                 on this Mutex.              */

   Thread                *m_owner;   /**< @brief Owner @p Thread pointer or

                                                 @p NULL.                    */

@@ -65,7 +65,7 @@ extern "C" {
  *

  * @param[in] name      the name of the mutex variable

  */

-#define _MUTEX_DATA(name) {_THREADSQUEUE_DATA(name.m_queue), NULL, NULL}

+#define _MUTEX_DATA(name) {_threads_queue_t_DATA(name.m_queue), NULL, NULL}

 

 /**

  * @brief   Static mutex initializer.

diff --git a/os/kernel/include/chqueues.h b/os/kernel/include/chqueues.h
index 507f020d1..0ea68deb8 100644
--- a/os/kernel/include/chqueues.h
+++ b/os/kernel/include/chqueues.h
@@ -60,7 +60,7 @@ typedef void (*qnotify_t)(GenericQueue *qp);
  *          @ref system_states) and is non-blocking.

  */

 struct GenericQueue {

-  ThreadsQueue          q_waiting;  /**< @brief Queue of waiting threads.   */

+  threads_queue_t       q_waiting;  /**< @brief Queue of waiting threads.   */

   size_t                q_counter;  /**< @brief Resources counter.          */

   uint8_t               *q_buffer;  /**< @brief Pointer to the queue buffer.*/

   uint8_t               *q_top;     /**< @brief Pointer to the first location

@@ -200,7 +200,7 @@ typedef GenericQueue InputQueue;
  * @param[in] link      application defined pointer

  */

 #define _INPUTQUEUE_DATA(name, buffer, size, inotify, link) {               \

-  _THREADSQUEUE_DATA(name),                                                 \

+  _threads_queue_t_DATA(name),                                                 \

   0,                                                                        \

   (uint8_t *)(buffer),                                                      \

   (uint8_t *)(buffer) + (size),                                             \

@@ -317,7 +317,7 @@ typedef GenericQueue OutputQueue;
  * @param[in] link      application defined pointer

  */

 #define _OUTPUTQUEUE_DATA(name, buffer, size, onotify, link) {              \

-  _THREADSQUEUE_DATA(name),                                                 \

+  _threads_queue_t_DATA(name),                                                 \

   (size),                                                                   \

   (uint8_t *)(buffer),                                                      \

   (uint8_t *)(buffer) + (size),                                             \

diff --git a/os/kernel/include/chschd.h b/os/kernel/include/chschd.h
index 37e457c31..3fe3a00b2 100644
--- a/os/kernel/include/chschd.h
+++ b/os/kernel/include/chschd.h
@@ -79,13 +79,13 @@
 #define firstprio(rlp)  ((rlp)->p_next->p_prio)

 

 /**

- * @extends ThreadsQueue

+ * @extends threads_queue_t

  *

  * @brief   Ready list header.

  */

 #if !defined(PORT_OPTIMIZED_READYLIST_STRUCT) || defined(__DOXYGEN__)

 typedef struct {

-  ThreadsQueue          r_queue;    /**< @brief Threads queue.              */

+  threads_queue_t       r_queue;    /**< @brief Threads queue.              */

   tprio_t               r_prio;     /**< @brief This field must be

                                                 initialized to zero.        */

   struct context        r_ctx;      /**< @brief Not used, present because

diff --git a/os/kernel/include/chsem.h b/os/kernel/include/chsem.h
index b5036af7c..649287e7d 100644
--- a/os/kernel/include/chsem.h
+++ b/os/kernel/include/chsem.h
@@ -35,7 +35,7 @@
  * @brief   Semaphore structure.

  */

 typedef struct Semaphore {

-  ThreadsQueue          s_queue;    /**< @brief Queue of the threads sleeping

+  threads_queue_t       s_queue;    /**< @brief Queue of the threads sleeping

                                                 on this semaphore.          */

   cnt_t                 s_cnt;      /**< @brief The semaphore counter.      */

 } Semaphore;

@@ -69,7 +69,7 @@ extern "C" {
  * @param[in] n         the counter initial value, this value must be

  *                      non-negative

  */

-#define _SEMAPHORE_DATA(name, n) {_THREADSQUEUE_DATA(name.s_queue), n}

+#define _SEMAPHORE_DATA(name, n) {_threads_queue_t_DATA(name.s_queue), n}

 

 /**

  * @brief   Static semaphore initializer.

diff --git a/os/kernel/include/chthreads.h b/os/kernel/include/chthreads.h
index 800263092..b8ff5693e 100644
--- a/os/kernel/include/chthreads.h
+++ b/os/kernel/include/chthreads.h
@@ -104,20 +104,20 @@ typedef struct Mutex Mutex;
 typedef struct {

 

   Thread                *p_next;    /**< @brief Next in the list/queue.     */

-} ThreadsList;

+} threads_list_t;

 

 /**

- * @extends ThreadsList

+ * @extends threads_list_t

  *

  * @brief   Generic threads bidirectional linked list header and element.

  */

 typedef struct {

   Thread                *p_next;    /**< @brief Next in the list/queue.     */

   Thread                *p_prev;    /**< @brief Previous in the queue.      */

-} ThreadsQueue;

+} threads_queue_t;

 

 /**

- * @extends ThreadsQueue

+ * @extends threads_queue_t

  *

  * @brief   Structure representing a thread.

  * @note    Not all the listed fields are always needed, by switching off some

@@ -126,9 +126,9 @@ typedef struct {
  */

 struct Thread {

   Thread                *p_next;    /**< @brief Next in the list/queue.     */

-  /* End of the fields shared with the ThreadsList structure. */

+  /* End of the fields shared with the threads_list_t structure.*/

   Thread                *p_prev;    /**< @brief Previous in the queue.      */

-  /* End of the fields shared with the ThreadsQueue structure. */

+  /* End of the fields shared with the threads_queue_t structure.*/

   tprio_t               p_prio;     /**< @brief Thread priority.            */

   struct context        p_ctx;      /**< @brief Processor context.          */

 #if CH_USE_REGISTRY || defined(__DOXYGEN__)

@@ -215,13 +215,13 @@ struct Thread {
   /**

    * @brief Termination waiting list.

    */

-  ThreadsList           p_waiting;

+  threads_list_t        p_waiting;

 #endif

 #if CH_USE_MESSAGES || defined(__DOXYGEN__)

   /**

    * @brief Messages queue.

    */

-  ThreadsQueue          p_msgqueue;

+  threads_queue_t       p_msgqueue;

   /**

    * @brief Thread message.

    */

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 0afc7f385..92e77abf2 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -62,9 +62,12 @@ typedef struct VirtualTimer VirtualTimer;
  *          timer is often used in the code.

  */

 typedef struct {

-  VirtualTimer          *vt_next;   /**< @brief Next timer in the list.     */

-  VirtualTimer          *vt_prev;   /**< @brief Last timer in the  list.    */

-  volatile systime_t    vt_time;    /**< @brief Current system time.        */

+  VirtualTimer          *vt_next;   /**< @brief Next timer in the delta

+                                                list.                       */

+  VirtualTimer          *vt_prev;   /**< @brief Last timer in the delta

+                                                list.                       */

+  systime_t             vt_time;    /**< @brief Must be initialized to -1.  */

+  volatile systime_t    vt_systime; /**< @brief System Time counter.        */

 } VTList;

 

 /**

@@ -75,7 +78,7 @@ typedef struct {
 struct VirtualTimer {

   VirtualTimer          *vt_next;   /**< @brief Next timer in the list.     */

   VirtualTimer          *vt_prev;   /**< @brief Previous timer in the list. */

-  systime_t             vt_time;    /**< @brief Absolute time.              */

+  systime_t             vt_time;    /**< @brief Time delta before timeout.  */

   vtfunc_t              vt_func;    /**< @brief Timer callback function

                                                 pointer.                    */

   void                  *vt_par;    /**< @brief Timer callback function

@@ -144,9 +147,9 @@ extern "C" {
 #endif

   void _vt_init(void);

   bool chVTIsTimeWithin(systime_t time, systime_t start, systime_t end);

-  void chVTSetAbsoluteI(VirtualTimer *vtp, systime_t time,

-                        vtfunc_t vtfunc, void *par);

-  void chVTResetI(VirtualTimer *vtp);

+  void chVTDoSetI(VirtualTimer *vtp, systime_t delay,

+                  vtfunc_t vtfunc, void *par);

+  void chVTDoResetI(VirtualTimer *vtp);

 #ifdef __cplusplus

 }

 #endif

@@ -156,6 +159,22 @@ extern "C" {
 /*===========================================================================*/

 

 /**

+ * @brief   Initializes a @p VirtualTimer object.

+ * @note    Initializing a timer object is not strictly required because

+ *          the function @p chVTSetI() initializes the object too. This

+ *          function is only useful if you need to perform a @p chVTIsArmed()

+ *          check before calling @p chVTSetI().

+ *

+ * @param[out] vtp      the @p VirtualTimer structure pointer

+ *

+ * @init

+ */

+static inline void chVTObjectInit(VirtualTimer *vtp) {

+

+  vtp->vt_func = NULL;

+}

+

+/**

  * @brief   Current system time.

  * @details Returns the number of system ticks since the @p chSysInit()

  *          invocation.

@@ -228,22 +247,6 @@ static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
 }

 

 /**

- * @brief   Initializes a @p VirtualTimer object.

- * @note    Initializing a timer object is not strictly required because

- *          the function @p chVTSetI() initializes the object too. This

- *          function is only useful if you need to perform a @p chVTIsArmed()

- *          check before calling @p chVTSetI().

- *

- * @param[out] vtp      the @p VirtualTimer structure pointer

- *

- * @init

- */

-static inline void chVTObjectInit(VirtualTimer *vtp) {

-

-  vtp->vt_func = NULL;

-}

-

-/**

  * @brief   Returns @p true if the specified timer is armed.

  * @pre     The timer must have been initialized using @p chVTObjectInit()

  *          or @p chVTSetI() (or @p chVTSetI() variants).

@@ -261,75 +264,76 @@ static inline bool chVTIsArmedI(VirtualTimer *vtp) {
 }

 

 /**

- * @brief   Enables a virtual timer.

+ * @brief   Disables a Virtual Timer.

+ * @note    The timer is first checked and disabled only if armed.

  *

- * @param[out] vtp      the @p VirtualTimer structure pointer

- * @param[in] delay     the number of ticks before the operation timeouts.

- * @param[in] vtfunc    the timer callback function. After invoking the

- *                      callback the timer is disabled and the structure can

- *                      be disposed or reused.

- * @param[in] par       a parameter that will be passed to the callback

- *                      function

+ * @param[in] vtp       the @p VirtualTimer structure pointer

  *

  * @iclass

  */

-static inline void chVTSetI(VirtualTimer *vtp, systime_t delay,

-                            vtfunc_t vtfunc, void *par) {

+static inline void chVTResetI(VirtualTimer *vtp) {

 

-  chVTSetAbsoluteI(vtp, chVTGetSystemTimeI() + delay, vtfunc, par);

+  if (chVTIsArmedI(vtp))

+    chVTDoResetI(vtp);

 }

 

 /**

- * @brief   Enables a virtual timer.

+ * @brief   Disables a Virtual Timer.

+ * @note    The timer is first checked and disabled only if armed.

  *

- * @param[out] vtp      the @p VirtualTimer structure pointer

- * @param[in] delay     the number of ticks before the operation timeouts.

- * @param[in] vtfunc    the timer callback function. After invoking the

- *                      callback the timer is disabled and the structure can

- *                      be disposed or reused.

- * @param[in] par       a parameter that will be passed to the callback

- *                      function

+ * @param[in] vtp       the @p VirtualTimer structure pointer

  *

  * @api

  */

-static inline void chVTSet(VirtualTimer *vtp, systime_t delay,

-                           vtfunc_t vtfunc, void *par) {

+static inline void chVTReset(VirtualTimer *vtp) {

 

   chSysLock();

-  chVTSetI(vtp, delay, vtfunc, par);

+  chVTResetI(vtp);

   chSysUnlock();

 }

 

 /**

- * @brief   Disables a Virtual Timer.

- * @pre     The timer must be in armed state before calling this function.

+ * @brief   Enables a virtual timer.

+ * @details If the virtual timer was already enabled then it is re-enabled

+ *          using the new parameters.

  *

  * @param[in] vtp       the @p VirtualTimer structure pointer

+ * @param[in] delay     the number of ticks before the operation timeouts.

+ * @param[in] vtfunc    the timer callback function. After invoking the

+ *                      callback the timer is disabled and the structure can

+ *                      be disposed or reused.

+ * @param[in] par       a parameter that will be passed to the callback

+ *                      function

  *

  * @iclass

  */

-static inline void chVTDoResetI(VirtualTimer *vtp) {

-

-  chDbgCheckClassI();

-  chDbgCheck(vtp != NULL, "chVTDoResetI");

+static inline void chVTSetI(VirtualTimer *vtp, systime_t delay,

+                            vtfunc_t vtfunc, void *par) {

 

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

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

-  vtp->vt_func = (vtfunc_t)NULL;

+  chVTResetI(vtp);

+  chVTDoSetI(vtp, delay, vtfunc, par);

 }

 

 /**

- * @brief   Disables a Virtual Timer.

- * @note    The timer is first checked and disabled only if armed.

+ * @brief   Enables a virtual timer.

+ * @details If the virtual timer was already enabled then it is re-enabled

+ *          using the new parameters.

  *

  * @param[in] vtp       the @p VirtualTimer structure pointer

+ * @param[in] delay     the number of ticks before the operation timeouts.

+ * @param[in] vtfunc    the timer callback function. After invoking the

+ *                      callback the timer is disabled and the structure can

+ *                      be disposed or reused.

+ * @param[in] par       a parameter that will be passed to the callback

+ *                      function

  *

  * @api

  */

-static inline void chVTReset(VirtualTimer *vtp) {

+static inline void chVTSet(VirtualTimer *vtp, systime_t delay,

+                           vtfunc_t vtfunc, void *par) {

 

   chSysLock();

-  chVTResetI(vtp);

+  chVTSetI(vtp, delay, vtfunc, par);

   chSysUnlock();

 }

 

@@ -343,17 +347,19 @@ static inline void chVTReset(VirtualTimer *vtp) {
  * @iclass

  */

 static inline void chVTDoTickI(void) {

-  systime_t systime = ++vtlist.vt_time;

 

   chDbgCheckClassI();

 

+  vtlist.vt_systime++;

   if (&vtlist != (VTList *)vtlist.vt_next) {

     VirtualTimer *vtp;

 

-    while (((VirtualTimer *)&vtlist != (vtp = vtlist.vt_next)) &&

-           (vtp->vt_time == systime)) {

+    --vtlist.vt_next->vt_time;

+    while (!(vtp = vtlist.vt_next)->vt_time) {

       vtfunc_t fn = vtp->vt_func;

-      chVTDoResetI(vtp);

+      vtp->vt_func = (vtfunc_t)NULL;

+      vtp->vt_next->vt_prev = (void *)&vtlist;

+      (&vtlist)->vt_next = vtp->vt_next;

       chSysUnlockFromIsr();

       fn(vtp->vt_par);

       chSysLockFromIsr();

diff --git a/os/kernel/src/chlists.c b/os/kernel/src/chlists.c
index c0961a5c9..9e9b276e6 100644
--- a/os/kernel/src/chlists.c
+++ b/os/kernel/src/chlists.c
@@ -65,7 +65,7 @@
  *

  * @notapi

  */

-void queue_prio_insert(Thread *tp, ThreadsQueue *tqp) {

+void queue_prio_insert(Thread *tp, threads_queue_t *tqp) {

 

   /* cp iterates over the queue.*/

   Thread *cp = (Thread *)tqp;

@@ -88,7 +88,7 @@ void queue_prio_insert(Thread *tp, ThreadsQueue *tqp) {
  *

  * @notapi

  */

-void queue_insert(Thread *tp, ThreadsQueue *tqp) {

+void queue_insert(Thread *tp, threads_queue_t *tqp) {

 

   tp->p_next = (Thread *)tqp;

   tp->p_prev = tqp->p_prev;

@@ -105,7 +105,7 @@ void queue_insert(Thread *tp, ThreadsQueue *tqp) {
  *

  * @notapi

  */

-Thread *queue_fifo_remove(ThreadsQueue *tqp) {

+Thread *queue_fifo_remove(threads_queue_t *tqp) {

   Thread *tp = tqp->p_next;

 

   (tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;

@@ -122,7 +122,7 @@ Thread *queue_fifo_remove(ThreadsQueue *tqp) {
  *

  * @notapi

  */

-Thread *queue_lifo_remove(ThreadsQueue *tqp) {

+Thread *queue_lifo_remove(threads_queue_t *tqp) {

   Thread *tp = tqp->p_prev;

 

   (tqp->p_prev = tp->p_prev)->p_next = (Thread *)tqp;

@@ -154,7 +154,7 @@ Thread *queue_dequeue(Thread *tp) {
  *

  * @notapi

  */

-void list_insert(Thread *tp, ThreadsList *tlp) {

+void list_insert(Thread *tp, threads_list_t *tlp) {

 

   tp->p_next = tlp->p_next;

   tlp->p_next = tp;

@@ -169,7 +169,7 @@ void list_insert(Thread *tp, ThreadsList *tlp) {
  *

  * @notapi

  */

-Thread *list_remove(ThreadsList *tlp) {

+Thread *list_remove(threads_list_t *tlp) {

 

   Thread *tp = tlp->p_next;

   tlp->p_next = tp->p_next;

diff --git a/os/kernel/src/chmtx.c b/os/kernel/src/chmtx.c
index adeb0dd52..38ecbed74 100644
--- a/os/kernel/src/chmtx.c
+++ b/os/kernel/src/chmtx.c
@@ -132,7 +132,8 @@ void chMtxLockS(Mutex *mp) {
       switch (tp->p_state) {

       case THD_STATE_WTMTX:

         /* Re-enqueues the mutex owner with its new priority.*/

-        queue_prio_insert(queue_dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);

+        queue_prio_insert(queue_dequeue(tp),

+                          (threads_queue_t *)tp->p_u.wtobjp);

         tp = ((Mutex *)tp->p_u.wtobjp)->m_owner;

         continue;

 #if CH_USE_CONDVARS |                                                       \

@@ -148,7 +149,8 @@ void chMtxLockS(Mutex *mp) {
       case THD_STATE_SNDMSGQ:

 #endif

         /* Re-enqueues tp with its new priority on the queue.*/

-        queue_prio_insert(queue_dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);

+        queue_prio_insert(queue_dequeue(tp),

+                          (threads_queue_t *)tp->p_u.wtobjp);

         break;

 #endif

       case THD_STATE_READY:

diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index ab9b88040..4f0fa839d 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -186,7 +186,7 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
   if (TIME_INFINITE != time) {

     VirtualTimer vt;

 

-    chVTSetI(&vt, time, wakeup, currp);

+    chVTDoSetI(&vt, time, wakeup, currp);

     chSchGoSleepS(newstate);

     if (chVTIsArmedI(&vt))

       chVTDoResetI(&vt);

diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c
index 8864bce0c..e93b2244c 100644
--- a/os/kernel/src/chvt.c
+++ b/os/kernel/src/chvt.c
@@ -67,7 +67,8 @@ VTList vtlist;
 void _vt_init(void) {

 

   vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;

-  vtlist.vt_time = 0;

+  vtlist.vt_time = (systime_t)-1;

+  vtlist.vt_systime = 0;

 }

 

 /**

@@ -93,12 +94,18 @@ bool chVTIsTimeWithin(systime_t time, systime_t start, systime_t end) {
 

 /**

  * @brief   Enables a virtual timer.

- * @details The timer is enabled and programmed to trigger at the absolute

- *          system time specified as parameter.

- * @note    The associated function is invoked from interrupt context.

+ * @details The timer is enabled and programmed to trigger after the delay

+ *          specified as parameter.

+ * @pre     The timer must not be already armed before calling this function.

+ * @note    The callback function is invoked from interrupt context.

  *

  * @param[out] vtp      the @p VirtualTimer structure pointer

- * @param[in] time      absolute system time

+ * @param[in] delay     the number of ticks before the operation timeouts, the

+ *                      special values are handled as follow:

+ *                      - @a TIME_INFINITE is allowed but interpreted as a

+ *                        normal time specification.

+ *                      - @a TIME_IMMEDIATE this value is not allowed.

+ *                      .

  * @param[in] vtfunc    the timer callback function. After invoking the

  *                      callback the timer is disabled and the structure can

  *                      be disposed or reused.

@@ -107,51 +114,50 @@ bool chVTIsTimeWithin(systime_t time, systime_t start, systime_t end) {
  *

  * @iclass

  */

-void chVTSetAbsoluteI(VirtualTimer *vtp, systime_t time,

-                      vtfunc_t vtfunc, void *par) {

+void chVTDoSetI(VirtualTimer *vtp, systime_t delay,

+                vtfunc_t vtfunc, void *par) {

   VirtualTimer *p;

-  systime_t systime = vtlist.vt_time;

 

   chDbgCheckClassI();

-  chDbgCheck((vtp != NULL) && (vtfunc != NULL), "chVTSetI");

+  chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE),

+             "chVTDoSetI");

 

   vtp->vt_par = par;

   vtp->vt_func = vtfunc;

-  vtp->vt_time = time;

-  if (time <= systime) {

-    p = vtlist.vt_prev;

-    while ((p->vt_time <= systime) && (p->vt_time > time))

-      p = p->vt_prev;

-    vtp->vt_next = (vtp->vt_prev = p)->vt_next;

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

-  }

-  else {

-    p = vtlist.vt_next;

-    while ((p->vt_time > systime) && (p->vt_time < time))

-      p = p->vt_next;

-    vtp->vt_prev = (vtp->vt_next = p)->vt_prev;

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

+  p = vtlist.vt_next;

+  while (p->vt_time < delay) {

+    delay -= p->vt_time;

+    p = p->vt_next;

   }

+

+  vtp->vt_prev = (vtp->vt_next = p)->vt_prev;

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

+  vtp->vt_time = delay;

+  if (p != (void *)&vtlist)

+    p->vt_time -= delay;

 }

 

 /**

  * @brief   Disables a Virtual Timer.

- * @note    The timer is first checked and disabled only if armed.

+ * @pre     The timer must be in armed state before calling this function.

  *

  * @param[in] vtp       the @p VirtualTimer structure pointer

  *

  * @iclass

  */

-void chVTResetI(VirtualTimer *vtp) {

+void chVTDoResetI(VirtualTimer *vtp) {

 

   chDbgCheckClassI();

-  chDbgCheck(vtp != NULL, "chVTResetI");

-

-  if (chVTIsArmedI(vtp)) {

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

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

-    vtp->vt_func = (vtfunc_t)NULL;

-  }

+  chDbgCheck(vtp != NULL, "chVTDoResetI");

+  chDbgAssert(vtp->vt_func != NULL,

+              "chVTDoResetI(), #1",

+              "timer not set or already triggered");

+

+  if (vtp->vt_next != (void *)&vtlist)

+    vtp->vt_next->vt_time += vtp->vt_time;

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

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

+  vtp->vt_func = (vtfunc_t)NULL;

 }

 

 /** @} */

diff --git a/test/testbmk.c b/test/testbmk.c
index 5b46023d8..7e801c743 100644
--- a/test/testbmk.c
+++ b/test/testbmk.c
@@ -507,8 +507,8 @@ static void bmk10_execute(void) {
   test_start_timer(1000);

   do {

     chSysLock();

-    chVTSetI(&vt1, 1, tmo, NULL);

-    chVTSetI(&vt2, 10000, tmo, NULL);

+    chVTDoSetI(&vt1, 1, tmo, NULL);

+    chVTDoSetI(&vt2, 10000, tmo, NULL);

     chVTResetI(&vt1);

     chVTResetI(&vt2);

     chSysUnlock();