Tickless Mode improvements and more assertions added.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7771 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 27 insertions, 21 deletions

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 01cfbdeee..80465fbcd 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -448,10 +448,10 @@ static inline void chVTDoTickI(void) {
 #if CH_CFG_ST_TIMEDELTA == 0

   ch.vtlist.vt_systime++;

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

-    virtual_timer_t *vtp;

-

+    /* The list is not empty, processing elements on top.*/

     --ch.vtlist.vt_next->vt_delta;

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

+      virtual_timer_t *vtp;

       vtfunc_t fn;

 

       vtp = ch.vtlist.vt_next;

@@ -466,11 +466,17 @@ static inline void chVTDoTickI(void) {
   }

 #else /* CH_CFG_ST_TIMEDELTA > 0 */

   virtual_timer_t *vtp;

-  systime_t now;

+  systime_t now, delta;

+

+  /* The list is assumed to be non-empty because an tick interrupt just

+     occurred.*/

+  chDbgAssert(&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next,

+              "timers list empty");

 

+  /* Timers processing loop.*/

+  vtp = ch.vtlist.vt_next;

   while (true) {

     vtfunc_t fn;

-    systime_t delta;

 

     /* Getting the current system time and calculating the time window since

        the last time has expired.*/

@@ -479,13 +485,11 @@ static inline void chVTDoTickI(void) {
 

     /* The next element is outside the current time window, the loop

        is stopped here.*/

-    vtp = ch.vtlist.vt_next;

     if (vtp->vt_delta > delta) {

       break;

     }

 

     /* The "last time" becomes this timer's expiration time.*/

-    delta -= vtp->vt_delta;

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

 

     /* The timer is removed from the list and marked as non-armed.*/

@@ -493,27 +497,28 @@ static inline void chVTDoTickI(void) {
     ch.vtlist.vt_next = vtp->vt_next;

     fn = vtp->vt_func;

     vtp->vt_func = NULL;

+    chSysUnlockFromISR();

 

     /* The callback is invoked outside the kernel critical zone.*/

-    chSysUnlockFromISR();

     fn(vtp->vt_par);

+

+    /* Next element in the list, if the list is empty then the timer is

+       stopped.*/

     chSysLockFromISR();

-  }

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

-    /* The list is empty, no tick event needed so the alarm timer

-       is stopped.*/

-    port_timer_stop_alarm();

-  }

-  else {

-    /* Updating the alarm to the next deadline, deadline that must not be

-       closer in time than the minimum time delta.*/

-    if (vtp->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) {

-      port_timer_set_alarm(now + vtp->vt_delta);

-    }

-    else {

-      port_timer_set_alarm(now + (systime_t)CH_CFG_ST_TIMEDELTA);

+    vtp = ch.vtlist.vt_next;

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

+      port_timer_stop_alarm();

+      return;

     }

   }

+  /* Updating the alarm to the next deadline, deadline that must not be

+     closer in time than the minimum time delta.*/

+  delta = (vtp->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) ?

+           vtp->vt_delta : (systime_t)CH_CFG_ST_TIMEDELTA;

+  port_timer_set_alarm(now + delta);

+

+  chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.vt_lasttime) < delta,

+              "exceeding delta");

 #endif /* CH_CFG_ST_TIMEDELTA > 0 */

 }

 

diff --git a/testhal/STM32/STM32F4xx/IRQ_STORM/main.c b/testhal/STM32/STM32F4xx/IRQ_STORM/main.c
index 581a1142a..0b5ae9c00 100644
--- a/testhal/STM32/STM32F4xx/IRQ_STORM/main.c
+++ b/testhal/STM32/STM32F4xx/IRQ_STORM/main.c
@@ -302,6 +302,7 @@ int main(void) {
         print("#");

         if (threshold == 0)

           threshold = interval;

+        break;

       }

     }

     /* Gives the worker threads a chance to empty the mailboxes before next