Removed assertion for repeated tickless timer stop. Improved comments in virtual timers.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7550 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 9 insertions, 2 deletions

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 754483649..9538474c9 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -468,12 +468,19 @@ static inline void chVTDoTickI(void) {
   systime_t delta = now - ch.vtlist.vt_lasttime;

 

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

+    vtfunc_t fn;

+

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

     delta -= vtp->vt_delta;

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

-    vtfunc_t fn = vtp->vt_func;

-    vtp->vt_func = (vtfunc_t)NULL;

+

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

     vtp->vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;

     ch.vtlist.vt_next = vtp->vt_next;

+    fn = vtp->vt_func;

+    vtp->vt_func = (vtfunc_t)NULL;

+

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

     chSysUnlockFromISR();

     fn(vtp->vt_par);

     chSysLockFromISR();