Tickless mode fixed hopefully.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7837 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 51 insertions, 42 deletions

diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index 9f52687ee..1d7661cb9 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -162,21 +162,17 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
  * @iclass

  */

 void chVTDoResetI(virtual_timer_t *vtp) {

-#if CH_CFG_ST_TIMEDELTA > 0

-  virtual_timer_t *first;

-#endif

 

   chDbgCheckClassI();

   chDbgCheck(vtp != NULL);

   chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");

 

-  /* Checking if the element to be removed was the first in the list.*/

-#if CH_CFG_ST_TIMEDELTA > 0

-  first = ch.vtlist.vt_next;

-#endif

+#if CH_CFG_ST_TIMEDELTA == 0

 

-  /* Removing the element from the delta list.*/

+  /* The delta of the timer is added to the next timer.*/

   vtp->vt_next->vt_delta += vtp->vt_delta;

+

+ /* Removing the element from the delta list.*/

   vtp->vt_prev->vt_next = vtp->vt_next;

   vtp->vt_next->vt_prev = vtp->vt_prev;

   vtp->vt_func = NULL;

@@ -184,50 +180,63 @@ void chVTDoResetI(virtual_timer_t *vtp) {
   /* The above code changes the value in the header when the removed element

      is the last of the list, restoring it.*/

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

+#else /* CH_CFG_ST_TIMEDELTA > 0 */

+  systime_t nowdelta, delta;

 

-#if CH_CFG_ST_TIMEDELTA > 0

-  {

-    systime_t nowdelta, delta;

+  /* If the timer is not the first of the list then it is simply unlinked

+     else the operation is more complex.*/

+  if (ch.vtlist.vt_next != vtp) {

+    /* Removing the element from the delta list.*/

+    vtp->vt_prev->vt_next = vtp->vt_next;

+    vtp->vt_next->vt_prev = vtp->vt_prev;

+    vtp->vt_func = NULL;

 

-    /* Just removed the last element in the list, alarm timer stopped and

-       return.*/

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

-      port_timer_stop_alarm();

-      return;

-    }

+    /* The above code can change the value in the header when the removed

+       element is the last of the list, restoring it.*/

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

 

-    /* If the removed element was not the first one then just return, the

-       alarm is already set to the first element.*/

-    if (vtp != first) {

-      return;

-    }

+    return;

+  }

 

-    /* If the new first element has a delta of zero then the alarm is not

-       modified, the already programmed alarm will serve it.*/

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

-      return;

-    }

+  /* Removing the first timer from the list.*/

+  ch.vtlist.vt_next = vtp->vt_next;

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

 

-    /* Distance in ticks between the last alarm event and current time.*/

-    nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;

+  /* If the list become empty then the alarm timer is stopped and done.*/

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

+    port_timer_stop_alarm();

 

-    /* If the current time surpassed the time of the next element in list

-       then the event interrupt is already pending, just return.*/

-    if (nowdelta >= ch.vtlist.vt_next->vt_delta) {

-      return;

-    }

+    return;

+  }

 

-    /* Distance from the next scheduled event and now.*/

-    delta = ch.vtlist.vt_next->vt_delta - nowdelta;

+  /* The delta of the removed timer is added to the new first timer.*/

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

 

-    /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA

-       ticks from now.*/

-    if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

-      delta = (systime_t)CH_CFG_ST_TIMEDELTA;

-    }

+  /* If the new first timer has a delta of zero then the alarm is not

+     modified, the already programmed alarm will serve it.*/

+  if (ch.vtlist.vt_next->vt_delta == 0) {

+    return;

+  }

 

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

+  /* Distance in ticks between the last alarm event and current time.*/

+  nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;

+

+  /* If the current time surpassed the time of the next element in list

+     then the event interrupt is already pending, just return.*/

+  if (nowdelta >= ch.vtlist.vt_next->vt_delta) {

+    return;

   }

+

+  /* Distance from the next scheduled event and now.*/

+  delta = ch.vtlist.vt_next->vt_delta - nowdelta;

+

+  /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA

+     ticks from now.*/

+  if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

+    delta = (systime_t)CH_CFG_ST_TIMEDELTA;

+  }

+

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

 #endif /* CH_CFG_ST_TIMEDELTA > 0 */

 }