git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6021 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 99 insertions, 13 deletions

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index e88d03d15..222b3c843 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -66,8 +66,17 @@ typedef struct {
                                                 list.                       */

   virtual_timer_t       *vt_prev;   /**< @brief Last timer in the delta

                                                 list.                       */

-  systime_t             vt_time;    /**< @brief Must be initialized to -1.  */

+  systime_t             vt_delta;   /**< @brief Must be initialized to -1.  */

+#if CH_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)

   volatile systime_t    vt_systime; /**< @brief System Time counter.        */

+#endif

+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)

+  /**

+   * @brief   System time of the last tick event.

+   */

+  systime_t             vt_lasttime;/**< @brief System time of the last

+                                                tick event.                 */

+#endif

 } virtual_timers_list_t;

 

 /**

@@ -78,7 +87,7 @@ typedef struct {
 struct virtual_timer {

   virtual_timer_t       *vt_next;   /**< @brief Next timer in the list.     */

   virtual_timer_t       *vt_prev;   /**< @brief Previous timer in the list. */

-  systime_t             vt_time;    /**< @brief Time delta before timeout.  */

+  systime_t             vt_delta;   /**< @brief Time delta before timeout.  */

   vtfunc_t              vt_func;    /**< @brief Timer callback function

                                                 pointer.                    */

   void                  *vt_par;    /**< @brief Timer callback function

@@ -190,7 +199,11 @@ static inline systime_t chVTGetSystemTimeI(void) {
 

   chDbgCheckClassI();

 

+#if CH_CFG_TIMEDELTA == 0

   return vtlist.vt_systime;

+#else /* CH_CFG_TIMEDELTA > 0 */

+  return port_timer_get_time();

+#endif /* CH_CFG_TIMEDELTA > 0 */

 }

 

 /**

@@ -352,12 +365,28 @@ static inline void chVTDoTickI(void) {
 

   chDbgCheckClassI();

 

+#if CH_CFG_TIMEDELTA == 0

   vtlist.vt_systime++;

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

     virtual_timer_t *vtp;

 

-    --vtlist.vt_next->vt_time;

-    while (!(vtp = vtlist.vt_next)->vt_time) {

+    --vtlist.vt_next->vt_delta;

+    while (!(vtp = vtlist.vt_next)->vt_delta) {

+      vtfunc_t fn = vtp->vt_func;

+      vtp->vt_func = (vtfunc_t)NULL;

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

+      vtlist.vt_next = vtp->vt_next;

+      chSysUnlockFromIsr();

+      fn(vtp->vt_par);

+      chSysLockFromIsr();

+    }

+  }

+#else /* CH_CFG_TIMEDELTA > 0 */

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

+    virtual_timer_t *vtp;

+

+    --vtlist.vt_next->vt_delta;

+    while (!(vtp = vtlist.vt_next)->vt_delta) {

       vtfunc_t fn = vtp->vt_func;

       vtp->vt_func = (vtfunc_t)NULL;

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

@@ -367,6 +396,7 @@ static inline void chVTDoTickI(void) {
       chSysLockFromIsr();

     }

   }

+#endif /* CH_CFG_TIMEDELTA > 0 */

 }

 

 #endif /* _CHVT_H_ */

diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c
index 3bccd1ac8..c03d442fc 100644
--- a/os/kernel/src/chvt.c
+++ b/os/kernel/src/chvt.c
@@ -67,8 +67,12 @@ virtual_timers_list_t vtlist;
 void _vt_init(void) {

 

   vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;

-  vtlist.vt_time = (systime_t)-1;

+  vtlist.vt_delta = (systime_t)-1;

+#if CH_CFG_TIMEDELTA == 0

   vtlist.vt_systime = 0;

+#else /* CH_CFG_TIMEDELTA > 0 */

+  vtlist.vt_lasttime = 0;

+#endif /* CH_CFG_TIMEDELTA > 0 */

 }

 

 /**

@@ -125,16 +129,42 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   vtp->vt_par = par;

   vtp->vt_func = vtfunc;

   p = vtlist.vt_next;

-  while (p->vt_time < delay) {

-    delay -= p->vt_time;

-    p = p->vt_next;

+

+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)

+  {

+    systime_t now = port_timer_get_time();

+

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

+       is raised to the minimum safe value.*/

+    if (delay < CH_CFG_TIMEDELTA)

+      delay = CH_CFG_TIMEDELTA;

+

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

+       time.*/

+    delay += now - vtlist.vt_lasttime;

+

+    if (&vtlist != (virtual_timers_list_t *)p)

+      port_timer_start_alarm(vtlist.vt_lasttime + delay);

+    else if (delay < p->vt_delta)

+      port_timer_set_alarm(vtlist.vt_lasttime + delay);

   }

+#endif /* CH_CFG_TIMEDELTA > 0 */

 

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

+     this timer. */

+  while (p->vt_delta < delay) {

+    delay -= p->vt_delta;

+    p = p->vt_next;

+  }
+
  /* The timer is inserted in the delta list.*/
   vtp->vt_prev = (vtp->vt_next = p)->vt_prev;

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

-  vtp->vt_time = delay;

-  if (p != (void *)&vtlist)

-    p->vt_time -= delay;

+  vtp->vt_delta = delay

+

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

+     value in the header must be restored.*/;

+  p->vt_delta -= delay;

+  vtlist.vt_delta = (systime_t)-1;

 }

 

 /**

@@ -153,11 +183,28 @@ void chVTDoResetI(virtual_timer_t *vtp) {
               "chVTDoResetI(), #1",

               "timer not set or already triggered");

 

-  if (vtp->vt_next != (void *)&vtlist)

-    vtp->vt_next->vt_time += vtp->vt_time;

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

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

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

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

   vtp->vt_func = (vtfunc_t)NULL;

+

+  /* The above code changes the value in the header when the removed element

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

+  vtlist.vt_delta = (systime_t)-1;

+

+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)

+  {

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

+      /* Just removed the last element in the list, alarm timer stopped.*/

+      port_timer_stop_alarm();

+    }

+    else {

+      /* The alarm is set to the next element in the delta list.*/

+      port_timer_set_alarm(vtlist.vt_lasttime + vtlist.vt_next->vt_delta);

+    }

+  }

+#endif /* CH_CFG_TIMEDELTA > 0 */

 }

 

 /** @} */

diff --git a/os/ports/GCC/ARMCMx/STM32F3xx/port.mk b/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
index 09cc8dfd6..e4da1ad11 100644
--- a/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
+++ b/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
@@ -1,6 +1,7 @@
 # List of the ChibiOS/RT Cortex-M4 STM32 port files.

 PORTSRC = $(CHIBIOS)/os/ports/GCC/ARMCMx/crt0.c \

           $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/vectors.c \

+          $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c \

           ${CHIBIOS}/os/ports/GCC/ARMCMx/chcore.c \

           ${CHIBIOS}/os/ports/GCC/ARMCMx/chcore_v7m.c \

           ${CHIBIOS}/os/ports/common/ARMCMx/nvic.c

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index 29d02761c..dfe2e2d5a 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -32,6 +32,7 @@
 /* Port interrupt handlers.                                                  */

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

 

+#if CH_CFG_TIMEDELTA == 0

 /**

  * @brief   System Timer vector.

  * @details This interrupt is used as system tick.

@@ -47,6 +48,7 @@ CH_IRQ_HANDLER(SysTickVector) {
 

   CH_IRQ_EPILOGUE();

 }

+#endif /* CH_CFG_TIMEDELTA == 0 */

 

 #if !CORTEX_SIMPLIFIED_PRIORITY || defined(__DOXYGEN__)

 /**

@@ -119,8 +121,10 @@ void _port_init(void) {
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL));

   nvicSetSystemHandlerPriority(HANDLER_PENDSV,

     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_PENDSV));

+#if CH_CFG_TIMEDELTA == 0

   nvicSetSystemHandlerPriority(HANDLER_SYSTICK,

     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));

+#endif

 }

 

 #if !CH_CFG_OPTIMIZE_SPEED

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h
index 8829872a9..8418139ff 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.h
@@ -518,6 +518,10 @@ extern "C" {
 }

 #endif

 

+#if CH_CFG_TIMEDELTA > 0

+#include "chtimer.h"

+#endif

+

 #endif /* _FROM_ASM_ */

 

 #endif /* _CHCORE_V7M_H_ */