Fixed and optimizations, NOW it seems to work for intervals larger than system time.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/rt5_dev_point1@10818 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 13 insertions, 11 deletions

diff --git a/os/rt/include/chtime.h b/os/rt/include/chtime.h
index e2e3402ef..701dfb4d5 100644
--- a/os/rt/include/chtime.h
+++ b/os/rt/include/chtime.h
@@ -488,7 +488,7 @@ static inline systime_t chTimeAddX(systime_t systime,
  */

 static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {

 

-  return (sysinterval_t)(end - start);

+  return (sysinterval_t)((systime_t)(end - start));

 }

 

 

@@ -509,7 +509,7 @@ static inline bool chTimeIsInRangeX(systime_t time,
                                     systime_t start,

                                     systime_t end) {

 

-  return (bool)((systime_t)(time - start) < (systime_t)(end - start));

+  return (bool)((time - start) < (end - start));

 }

 

 /** @} */

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index b3a803c1a..e115bec63 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -393,12 +393,11 @@ static inline void chVTDoTickI(void) {
 #else /* CH_CFG_ST_TIMEDELTA > 0 */

   virtual_timer_t *vtp;

   systime_t now;

-  sysinterval_t delta;

+  sysinterval_t delta, nowdelta;

 

   /* Looping through timers.*/

   vtp = ch.vtlist.next;

   while (true) {

-    sysinterval_t nowdelta;

 

     /* Getting the system time as reference.*/

     now = chVTGetSystemTimeX();

@@ -407,7 +406,7 @@ static inline void chVTDoTickI(void) {
     /* The list scan is limited by the timers header having

        "ch.vtlist.vt_delta == (sysinterval_t)-1" which is

        greater than all deltas.*/

-    if (vtp->delta > nowdelta) {

+    if (nowdelta < vtp->delta) {

       break;

     }

 

@@ -415,8 +414,9 @@ static inline void chVTDoTickI(void) {
     do {

       vtfunc_t fn;

 

-      /* Recalculated delta.*/

-      nowdelta = nowdelta - vtp->delta;

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

+      ch.vtlist.lasttime += vtp->delta;

+      nowdelta -= vtp->delta;

 

       vtp->next->prev = (virtual_timer_t *)&ch.vtlist;

       ch.vtlist.next = vtp->next;

@@ -437,9 +437,6 @@ static inline void chVTDoTickI(void) {
       vtp = ch.vtlist.next;

     }

     while (vtp->delta <= nowdelta);

-

-    /* The "last time" is set to the current time.*/

-    ch.vtlist.lasttime = now;

   }

 

   /* if the list is empty, nothing else to do.*/

@@ -447,6 +444,11 @@ static inline void chVTDoTickI(void) {
     return;

   }

 

+  /* The "unprocessed nowdelta" time slice is added to "last time"

+     and subtracted to next timer's delta.*/

+  ch.vtlist.lasttime += nowdelta;

+  ch.vtlist.next->delta -= nowdelta;

+

   /* Recalculating the next alarm time.*/

   delta = chTimeDiffX(now, chTimeAddX(ch.vtlist.lasttime, vtp->delta));

   if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {

@@ -454,7 +456,7 @@ static inline void chVTDoTickI(void) {
   }

 #if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION

   /* The delta could be too large for the physical timer to handle.*/

-  if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {

+  else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {

     delta = (sysinterval_t)TIME_MAX_SYSTIME;

   }

 #endif