git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6024 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 54 insertions, 10 deletions

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
index 087f18295..a2fa7a697 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
@@ -414,12 +414,12 @@
  * @details If enabled then a field is added to the @p thread_t structure that

  *          counts the system ticks occurred while executing the thread.

  *

- * @note    The default is @p TRUE.

- * @note    This debug option is defaulted to TRUE because it is required by

- *          some test cases into the test suite.

+ * @note    The default is @p FALSE.

+ * @note    This debug option is not currently compatible with the

+ *          tickless mode.

  */

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

-#define CH_DBG_THREADS_PROFILING            TRUE

+#define CH_DBG_THREADS_PROFILING            FALSE

 #endif

 

 /** @} */

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/main.c b/demos/ARMCM4-STM32F303-DISCOVERY/main.c
index a72c1a72c..ed10165af 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/main.c
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/main.c
@@ -18,6 +18,7 @@
 #include "hal.h"

 #include "test.h"

 

+#if 0

 /*

  * This is a periodic thread that does absolutely nothing except flashing LEDs.

  */

@@ -53,6 +54,33 @@ static msg_t Thread1(void *arg) {
     palClearPad(GPIOE, GPIOE_LED4_BLUE);

   }

 }

+#endif

+

+static WORKING_AREA(waThread1, 128);

+static msg_t Thread1(void *arg) {

+

+  (void)arg;

+  chRegSetThreadName("blinker1");

+  while (TRUE) {

+    palSetPad(GPIOE, GPIOE_LED3_RED);

+    chThdSleepMilliseconds(250);

+    palClearPad(GPIOE, GPIOE_LED3_RED);

+    chThdSleepMilliseconds(250);

+  }

+}

+

+static WORKING_AREA(waThread2, 128);

+static msg_t Thread2(void *arg) {

+

+  (void)arg;

+  chRegSetThreadName("blinker2");

+  while (TRUE) {

+    palSetPad(GPIOE, GPIOE_LED4_BLUE);

+    chThdSleepMilliseconds(500);

+    palClearPad(GPIOE, GPIOE_LED4_BLUE);

+    chThdSleepMilliseconds(500);

+  }

+}

 

 /*

  * Application entry point.

@@ -80,7 +108,8 @@ int main(void) {
   /*

    * Creates the example thread.

    */

-  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL);

+  chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO+2, Thread2, NULL);

 

   /*

    * Normal main() thread activity, in this demo it does nothing except

diff --git a/os/hal/platforms/STM32F30x/hal_lld.c b/os/hal/platforms/STM32F30x/hal_lld.c
index 64b691ade..fcfbd4d10 100644
--- a/os/hal/platforms/STM32F30x/hal_lld.c
+++ b/os/hal/platforms/STM32F30x/hal_lld.c
@@ -103,12 +103,18 @@ void hal_lld_init(void) {
   rccResetAPB1(0xFFFFFFFF);

   rccResetAPB2(0xFFFFFFFF);

 

+#if CH_CFG_TIMEDELTA == 0

   /* SysTick initialization using the system clock.*/

   SysTick->LOAD = STM32_HCLK / CH_CFG_FREQUENCY - 1;

   SysTick->VAL = 0;

   SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |

                   SysTick_CTRL_ENABLE_Msk |

                   SysTick_CTRL_TICKINT_Msk;

+#else

+  rccEnableAPB1(RCC_APB1ENR_TIM2EN, TRUE);

+  nvicEnableVector(28, CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));

+  TIM2->PSC = STM32_TIMCLK2 / CH_CFG_FREQUENCY - 1;

+#endif

 

   /* DWT cycle counter enable.*/

   SCS_DEMCR |= SCS_DEMCR_TRCENA;

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 2c4b489d5..d1659d286 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -41,6 +41,14 @@
 /* Derived constants and error checks.                                       */

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

 

+#if CH_CFG_FREQUENCY <= 0

+#error "invalid CH_CFG_FREQUENCY specified"

+#endif

+

+#if (CH_CFG_TIMEDELTA < 0) || (CH_CFG_TIMEDELTA == 1)

+#error "invalid NIL_CFG_TIMEDELTA specified"

+#endif

+

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

 /* Module data structures and types.                                         */

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

@@ -387,6 +395,8 @@ static inline void chVTDoTickI(void) {
   systime_t delta = now - vtlist.vt_lasttime;

 

   while ((vtp = vtlist.vt_next)->vt_delta <= delta) {

+    delta -= vtp->vt_delta;

+    vtlist.vt_lasttime += vtp->vt_delta;

     vtfunc_t fn = vtp->vt_func;

     vtp->vt_func = (vtfunc_t)NULL;

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

@@ -401,10 +411,7 @@ static inline void chVTDoTickI(void) {
     port_timer_stop_alarm();

   }

   else {

-    /* The delta is subtracted to the next list element, the current time

-       becomes the new delta list base time.*/

-    vtp->vt_delta -= delta;

-    vtlist.vt_lasttime = now;

+    /* Updating the alarm to the next deadline.*/

     port_timer_set_alarm(now + vtp->vt_delta);

   }

 #endif /* CH_CFG_TIMEDELTA > 0 */

diff --git a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
index 5cb8d8c75..78d2aaf06 100644
--- a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
+++ b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
@@ -53,7 +53,7 @@
  *

  * @isr

  */

-CH_IRQ_HANDLER(Vector7C) {

+CH_IRQ_HANDLER(VectorB0) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index dfe2e2d5a..23554935a 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -124,6 +124,8 @@ void _port_init(void) {
 #if CH_CFG_TIMEDELTA == 0

   nvicSetSystemHandlerPriority(HANDLER_SYSTICK,

     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));

+#else

+  port_timer_init();

 #endif

 }