Fixed bugs 573 and 574.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7876 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 20 insertions, 23 deletions

diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h
index 8f5d0a1c4..155734ff4 100644
--- a/os/rt/include/ch.h
+++ b/os/rt/include/ch.h
@@ -48,7 +48,7 @@
 /**

  * @brief   Kernel version string.

  */

-#define CH_KERNEL_VERSION       "3.0.0p1"

+#define CH_KERNEL_VERSION       "3.0.0p2"

 

 /**

  * @brief   Kernel version major number.

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index fe70aef03..de5ee765d 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -498,7 +498,7 @@ static inline void chVTDoTickI(void) {
      note that the loop is stopped by the timers header having

      "ch.vtlist.vt_delta == (systime_t)-1" which is greater than

      all deltas.*/

-  while (vtp->vt_delta <= now - ch.vtlist.vt_lasttime) {

+  while (vtp->vt_delta <= (systime_t)(now - ch.vtlist.vt_lasttime)) {

     vtfunc_t fn;

 

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

diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index 8ec94e4e4..7f4ab6a89 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -95,6 +95,7 @@ void _vt_init(void) {
 void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,

                 vtfunc_t vtfunc, void *par) {

   virtual_timer_t *p;

+  systime_t delta;

 

   chDbgCheckClassI();

   chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));

@@ -106,13 +107,14 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   {

     systime_t now = chVTGetSystemTimeX();

 

+    /* If the requested delay is lower than the minimum safe delta then it

+       is raised to the minimum safe value.*/

+    if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {

+      delay = (systime_t)CH_CFG_ST_TIMEDELTA;

+    }

+

     /* Special case where the timers list is empty.*/

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

-      /* If the requested delay is lower than the minimum safe delta then it

-         is raised to the minimum safe value.*/

-      if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {

-        delay = (systime_t)CH_CFG_ST_TIMEDELTA;

-      }

 

       /* The delta list is empty, the current time becomes the new

          delta list base time, the timer is inserted.*/

@@ -131,28 +133,23 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
 

     /* Special case where the timer will be placed as first element in a

        non-empty list, the alarm needs to be recalculated.*/

-    if ((now + delay) < (ch.vtlist.vt_lasttime + ch.vtlist.vt_next->vt_delta)) {

-      /* If the requested delay is lower than the minimum safe delta then it

-         is raised to the minimum safe value.*/

-      if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {

-        delay = (systime_t)CH_CFG_ST_TIMEDELTA;

-      }

-

-      /* Now the delay is calculated as delta from the last tick interrupt

-         time.*/

-      delay += now - ch.vtlist.vt_lasttime;

+    delta = now + delay - ch.vtlist.vt_lasttime;

+    if (delta < ch.vtlist.vt_next->vt_delta) {

 

       /* New alarm deadline.*/

-      port_timer_set_alarm(ch.vtlist.vt_lasttime + delay);

+      port_timer_set_alarm(ch.vtlist.vt_lasttime + delta);

     }

   }

-#endif /* CH_CFG_ST_TIMEDELTA > 0 */

+#else /* CH_CFG_ST_TIMEDELTA == 0 */

+  /* Delta is initially equal to the specified delay.*/

+  delta = delay;

+#endif /* CH_CFG_ST_TIMEDELTA == 0 */

 

   /* The delta list is scanned in order to find the correct position for

      this timer. */

   p = ch.vtlist.vt_next;

-  while (p->vt_delta < delay) {

-    delay -= p->vt_delta;

+  while (p->vt_delta < delta) {

+    delta -= p->vt_delta;

     p = p->vt_next;

   }

 

@@ -161,11 +158,11 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   vtp->vt_prev = vtp->vt_next->vt_prev;

   vtp->vt_prev->vt_next = vtp;

   p->vt_prev = vtp;

-  vtp->vt_delta = delay

+  vtp->vt_delta = delta

 

   /* Special case when the timer is in last position in the list, the

      value in the header must be restored.*/;

-  p->vt_delta -= delay;

+  p->vt_delta -= delta;

   ch.vtlist.vt_delta = (systime_t)-1;

 }