git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6024 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 20 insertions, 5 deletions

diff --git a/os/hal/platforms/STM32F30x/hal_lld.c b/os/hal/platforms/STM32F30x/hal_lld.c
index 64b691ade..fcfbd4d10 100644
--- a/os/hal/platforms/STM32F30x/hal_lld.c
+++ b/os/hal/platforms/STM32F30x/hal_lld.c
@@ -103,12 +103,18 @@ void hal_lld_init(void) {
   rccResetAPB1(0xFFFFFFFF);

   rccResetAPB2(0xFFFFFFFF);

 

+#if CH_CFG_TIMEDELTA == 0

   /* SysTick initialization using the system clock.*/

   SysTick->LOAD = STM32_HCLK / CH_CFG_FREQUENCY - 1;

   SysTick->VAL = 0;

   SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |

                   SysTick_CTRL_ENABLE_Msk |

                   SysTick_CTRL_TICKINT_Msk;

+#else

+  rccEnableAPB1(RCC_APB1ENR_TIM2EN, TRUE);

+  nvicEnableVector(28, CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));

+  TIM2->PSC = STM32_TIMCLK2 / CH_CFG_FREQUENCY - 1;

+#endif

 

   /* DWT cycle counter enable.*/

   SCS_DEMCR |= SCS_DEMCR_TRCENA;

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 2c4b489d5..d1659d286 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -41,6 +41,14 @@
 /* Derived constants and error checks.                                       */

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

 

+#if CH_CFG_FREQUENCY <= 0

+#error "invalid CH_CFG_FREQUENCY specified"

+#endif

+

+#if (CH_CFG_TIMEDELTA < 0) || (CH_CFG_TIMEDELTA == 1)

+#error "invalid NIL_CFG_TIMEDELTA specified"

+#endif

+

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

 /* Module data structures and types.                                         */

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

@@ -387,6 +395,8 @@ static inline void chVTDoTickI(void) {
   systime_t delta = now - vtlist.vt_lasttime;

 

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

+    delta -= vtp->vt_delta;

+    vtlist.vt_lasttime += vtp->vt_delta;

     vtfunc_t fn = vtp->vt_func;

     vtp->vt_func = (vtfunc_t)NULL;

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

@@ -401,10 +411,7 @@ static inline void chVTDoTickI(void) {
     port_timer_stop_alarm();

   }

   else {

-    /* The delta is subtracted to the next list element, the current time

-       becomes the new delta list base time.*/

-    vtp->vt_delta -= delta;

-    vtlist.vt_lasttime = now;

+    /* Updating the alarm to the next deadline.*/

     port_timer_set_alarm(now + vtp->vt_delta);

   }

 #endif /* CH_CFG_TIMEDELTA > 0 */

diff --git a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
index 5cb8d8c75..78d2aaf06 100644
--- a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
+++ b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c
@@ -53,7 +53,7 @@
  *

  * @isr

  */

-CH_IRQ_HANDLER(Vector7C) {

+CH_IRQ_HANDLER(VectorB0) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index dfe2e2d5a..23554935a 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -124,6 +124,8 @@ void _port_init(void) {
 #if CH_CFG_TIMEDELTA == 0

   nvicSetSystemHandlerPriority(HANDLER_SYSTICK,

     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));

+#else

+  port_timer_init();

 #endif

 }