diff options
Diffstat (limited to 'os/kernel')
| -rw-r--r-- | os/kernel/include/chvt.h | 38 | ||||
| -rw-r--r-- | os/kernel/src/chvt.c | 65 |
2 files changed, 90 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 */
}
/** @} */
|