git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@484 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 84 insertions, 50 deletions

diff --git a/readme.txt b/readme.txt
index fe51b009e..9a0d9b7bd 100644
--- a/readme.txt
+++ b/readme.txt
@@ -74,6 +74,10 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *****************************************************************************

 

 *** 0.7.3 ***

+- FIX: Fixed a bug in chThdSleepUntil(), this API is no more a macro now.

+- NEW: New chThdSleepSeconds(), chThdSleepMilliseconds() and

+  chThdSleepMicroseconds() utility macros.

+- CHANGE: Zero is no more a valid time specification for the chVTSetI() API.

 - CHANGE: Removed the files chsleep.c and sleep.h.

 - CHANGE: Renamed the files chdelta.c and delta.h to chvt.c and vt.h. All the

   system time related functions and macros are now moved here.

diff --git a/src/chschd.c b/src/chschd.c
index b6fd624e0..573b311ec 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -111,19 +111,25 @@ static void wakeup(void *p) {
  * the specified time has elapsed.
  *
  * @param newstate the new thread state
- * @param time the number of ticks before the operation timeouts
+ * @param time the number of ticks before the operation timeouts. the value
+ *             zero (\p TIME_INFINITE) is allowed.
  * @return The wakeup message.
  * @retval RDY_TIMEOUT if a timeout occurs.
  * @note The function must be called in the system mutex zone.
  * @note The function is not meant to be used in the user code directly.
  */
 msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
-  VirtualTimer vt;
 
-  chVTSetI(&vt, time, wakeup, currp);
-  chSchGoSleepS(newstate);
-  if (chVTIsArmedI(&vt))
-    chVTResetI(&vt);
+  if (TIME_INFINITE != time) {
+    VirtualTimer vt;
+
+    chVTSetI(&vt, time, wakeup, currp);
+    chSchGoSleepS(newstate);
+    if (chVTIsArmedI(&vt))
+      chVTResetI(&vt);
+  }
+  else
+    chSchGoSleepS(newstate);
   return currp->p_rdymsg;
 }
 
diff --git a/src/chthreads.c b/src/chthreads.c
index 11d2442ad..3f55c4de5 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -289,7 +289,7 @@ void chThdTerminate(Thread *tp) {
 
 /**
  * Suspends the invoking thread for the specified time.
- * @param time the system ticks number
+ * @param time the delay in system ticks
  */
 void chThdSleep(systime_t time) {
 
@@ -299,6 +299,19 @@ void chThdSleep(systime_t time) {
 }
 
 /**
+ * Suspends the invoking thread until the system time arrives to the specified
+ * value.
+ * @param time the absolute system time
+ */
+void chThdSleepUntil(systime_t time) {
+
+  chSysLock();
+  if ((time -= chSysGetTime()) > 0)
+    chSchGoSleepTimeoutS(PRSLEEP, time);
+  chSysUnlock();
+}
+
+/**
  * Terminates the current thread by specifying an exit status code.
  *
  * @param msg the thread exit code. The code can be retrieved by using
diff --git a/src/chvt.c b/src/chvt.c
index 77978e16c..03847c44e 100644
--- a/src/chvt.c
+++ b/src/chvt.c
@@ -40,36 +40,32 @@ void chVTInit(void) {
 /**

  * Enables a virtual timer.

  * @param vtp the \p VirtualTimer structure pointer

- * @param time the number of time ticks, the value zero is allowed with

- *             meaning "infinite". In this case the structure is initialized

- *             but not inserted in the delta list, the timer will never be

- *             triggered.

+ * @param time the number of time ticks, the value zero is not allowed

  * @param vtfunc the timer callback function. After invoking the callback

  *               the timer is disabled and the structure can be disposed or

  *               reused.

  * @param par a parameter that will be passed to the callback function

  * @note Must be called with the interrupts disabled.

- * @note The associated function is invoked by an interrupt handler.

+ * @note The associated function is invoked from an interrupt handler.

  */

 void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {

+  VirtualTimer *p;

+

+  chDbgAssert(time != 0, "chvt.c, chVTSetI()");

 

   vtp->vt_par = par;

   vtp->vt_func = vtfunc;

-  if (time) {

-    VirtualTimer *p = vtlist.vt_next;

-    while (p->vt_time < time) {

-      time -= 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 = time;

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

-      p->vt_time -= time;

+  p = vtlist.vt_next;

+  while (p->vt_time < time) {

+    time -= p->vt_time;

+    p = p->vt_next;

   }

-  else

-    vtp->vt_next = vtp->vt_prev = vtp; // Allows a chVTResetI() on the fake timer.

+

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

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

+  vtp->vt_time = time;

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

+    p->vt_time -= time;

 }

 

 /**

diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 3f9eb7a39..b05db16a2 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -32,6 +32,10 @@
 /** Returned when the thread was made ready because of a reset. */
 #define RDY_RESET   -2
 
+/** Infinite time specification for all the syscalls with a timeout
+    specification.*/
+#define TIME_INFINITE 0
+
 /** The priority of the first thread on the given ready list. */
 #define firstprio(rlp)   ((rlp)->p_next->p_prio)
 
diff --git a/src/include/threads.h b/src/include/threads.h
index e9894650d..a3d37a7db 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -193,6 +193,7 @@ extern "C" {
   void chThdSuspend(Thread **tpp);
   void chThdTerminate(Thread *tp);
   void chThdSleep(systime_t time);
+  void chThdSleepUntil(systime_t time);
   void chThdExit(msg_t msg);
 #ifdef CH_USE_WAITEXIT
   msg_t chThdWait(Thread *tp);
@@ -268,15 +269,28 @@ extern "C" {
         chThdCreateStatic(workspace, wsize, prio, pf, NULL)
 
 /**
- * Suspends the invoking thread until the system time arrives to the specified
- * value.
+ * Delays the invoking thread for the specified number of seconds.
+ * @note The specified time is rounded up to a value allowed by the real
+ *       system clock.
+ * @note The maximum specified value is implementation dependent.
  */
-#define chThdSleepUntil(t) {                                            \
-  chSysLock();                                                          \
-  chSchGoSleepTimeoutS(PRSLEEP,                                         \
-                      (systime_t)((t) - chSysGetTime()));               \
-  chSysUnlock();                                                        \
-}
+#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
+
+/**
+ * Delays the invoking thread for the specified number of milliseconds.
+ * @note The specified time is rounded up to a value allowed by the real
+ *       system clock.
+ * @note The maximum specified value is implementation dependent.
+ */
+#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
+
+/**
+ * Delays the invoking thread for the specified number of microseconds.
+ * @note The specified time is rounded up to a value allowed by the real
+ *       system clock.
+ * @note The maximum specified value is implementation dependent.
+ */
+#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
 
 #endif  /* _THREADS_H_ */
 
diff --git a/src/include/vt.h b/src/include/vt.h
index 954c87da5..72385715b 100644
--- a/src/include/vt.h
+++ b/src/include/vt.h
@@ -34,13 +34,13 @@
  * Time conversion utility. Converts from milliseconds to system ticks number.

  * @note The result is rounded upward to the next tick boundary.

  */

-#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000) + 1))

+#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000L) + 1L))

 

 /**

  * Time conversion utility. Converts from microseconds to system ticks number.

  * @note The result is rounded upward to the next tick boundary.

  */

-#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000) + 1))

+#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000L) + 1L))

 

 /** Virtual Timer callback function.*/

 typedef void (*vtfunc_t)(void *);

@@ -85,12 +85,12 @@ typedef struct {
 extern VTList vtlist;

 

 #define chVTDoTickI() {                                                 \

-  vtlist.vt_systime++;                                                    \

+  vtlist.vt_systime++;                                                  \

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

     VirtualTimer *vtp;                                                  \

                                                                         \

-    --vtlist.vt_next->vt_time;                                         \

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

+    --vtlist.vt_next->vt_time;                                          \

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

       vtfunc_t fn = vtp->vt_func;                                       \

       vtp->vt_func = NULL;                                              \

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

@@ -99,9 +99,6 @@ extern VTList vtlist;
   }                                                                     \

 }

 

-/** Infinite time specification.*/

-#define TIME_INFINITE 0

-

 /*

  * Virtual Timers APIs.

  */

diff --git a/test/test.c b/test/test.c
index eacb2a9e3..c56a23552 100644
--- a/test/test.c
+++ b/test/test.c
@@ -250,7 +250,7 @@ msg_t TestThread(void *p) {
   i = 0;

   while (tests[i]) {

 #if DELAY_BETWEEN_TESTS > 0

-    chThdSleep(MS2ST(DELAY_BETWEEN_TESTS));

+    chThdSleepMilliseconds(DELAY_BETWEEN_TESTS);

 #endif

     test_println("---------------------------------------------------------------------------");

     test_print("--- Test Case ");

diff --git a/test/testmtx.c b/test/testmtx.c
index f389ebe6f..6c1beea28 100644
--- a/test/testmtx.c
+++ b/test/testmtx.c
@@ -85,7 +85,7 @@ static void mtx2_teardown(void) {
 

 static msg_t thread2(void *p) {

 

-  chThdSleep(MS2ST(10));

+  chThdSleepMilliseconds(10);

   chMtxLock(&m1);

   chMtxUnlock();

   test_emit_token(*(char *)p);

@@ -95,7 +95,7 @@ static msg_t thread2(void *p) {
 static msg_t thread3(void *p) {

 

   chMtxLock(&m1);

-  chThdSleep(MS2ST(40));

+  chThdSleepMilliseconds(40);

   chMtxUnlock();

   test_emit_token(*(char *)p);

   return 0;

@@ -103,7 +103,7 @@ static msg_t thread3(void *p) {
 

 static msg_t thread4(void *p) {

 

-  chThdSleep(MS2ST(20));

+  chThdSleepMilliseconds(20);

   test_cpu_pulse(50);

   test_emit_token(*(char *)p);

   return 0;

@@ -156,7 +156,7 @@ static msg_t thread5(void *p) {
 

 static msg_t thread6(void *p) {

 

-  chThdSleep(MS2ST(10));

+  chThdSleepMilliseconds(10);

   chMtxLock(&m2);

   test_cpu_pulse(20);

   chMtxLock(&m1);

@@ -170,7 +170,7 @@ static msg_t thread6(void *p) {
 

 static msg_t thread7(void *p) {

 

-  chThdSleep(MS2ST(20));

+  chThdSleepMilliseconds(20);

   chMtxLock(&m2);

   test_cpu_pulse(50);

   chMtxUnlock();

@@ -180,7 +180,7 @@ static msg_t thread7(void *p) {
 

 static msg_t thread8(void *p) {

 

-  chThdSleep(MS2ST(40));

+  chThdSleepMilliseconds(40);

   test_cpu_pulse(200);

   test_emit_token(*(char *)p);

   return 0;

@@ -188,7 +188,7 @@ static msg_t thread8(void *p) {
 

 static msg_t thread9(void *p) {

 

-  chThdSleep(MS2ST(50));

+  chThdSleepMilliseconds(50);

   chMtxLock(&m2);

   test_cpu_pulse(50);

   chMtxUnlock();