git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7833 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 18 insertions, 12 deletions

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 736d572b4..0bb127250 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -466,7 +466,6 @@ static inline void chVTDoTickI(void) {
   }

 #else /* CH_CFG_ST_TIMEDELTA > 0 */

   virtual_timer_t *vtp;

-  systime_t now, delta;

 

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

      occurred.*/

@@ -482,6 +481,10 @@ static inline void chVTDoTickI(void) {
                                 chVTGetSystemTimeX() + 1),

               "out of time window");

 

+/*  if (now > 21) {

+     __BKPT(0);

+  }*/

+

   /* Timers processing loop.*/

   while (true) {

     vtfunc_t fn;

@@ -495,11 +498,6 @@ static inline void chVTDoTickI(void) {
     fn = vtp->vt_func;

     vtp->vt_func = NULL;

 

-    /* If the list is empty then the timer is stopped.*/

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

-      port_timer_stop_alarm();

-    }

-

     /* Leaving the system critical zone in order to execute the callback

        and in order to give a preemption chance to higher priority

        interrupts.*/

@@ -513,25 +511,33 @@ static inline void chVTDoTickI(void) {
     chSysLockFromISR();

 

     /* If the list is empty then ending the loop, the list has to be

-       re-checked because new timers could have been added from within

-       the callback.*/

+       re-checked because new timers could have been added/removed from

+       within the callback or other ISRs.*/

     vtp = ch.vtlist.vt_next;

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

+      /* Timers list empty, stopping alarms.*/

+      port_timer_stop_alarm();

       return;

     }

 

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

        the last time has expired.*/

     now = chVTGetSystemTimeX();

-    delta = now - ch.vtlist.vt_lasttime;

 

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

        is stopped here.*/

-    if (vtp->vt_delta > delta) {

+    if (vtp->vt_delta > now - ch.vtlist.vt_lasttime) {

       /* 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;

+      systime_t delta = ch.vtlist.vt_lasttime + vtp->vt_delta - now;

+      if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

+        delta = (systime_t)CH_CFG_ST_TIMEDELTA;

+      }

+

+//      if (now + delta >= 23) {

+//         __BKPT(0);

+//      }

+

       port_timer_set_alarm(now + delta);

 

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