git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7551 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 19 insertions, 5 deletions

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 9538474c9..1d7c8c545 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -464,11 +464,21 @@ static inline void chVTDoTickI(void) {
   }

 #else /* CH_CFG_ST_TIMEDELTA > 0 */

   virtual_timer_t *vtp;

-  systime_t now = chVTGetSystemTimeX();

-  systime_t delta = now - ch.vtlist.vt_lasttime;

+  systime_t now;

 

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

+  while (true) {

     vtfunc_t fn;

+    systime_t delta;

+

+    /* Getting the current system time and calculating the time window since

+       the last time has expired.*/

+    now = chVTGetSystemTimeX();

+    delta = now - ch.vtlist.vt_lasttime;

+

+    /* The next element is outside the current time window, the loop

+       is stopped here.*/

+    if ((vtp = ch.vtlist.vt_next)->vt_delta > delta)

+      break;

 

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

     delta -= vtp->vt_delta;

@@ -491,8 +501,12 @@ static inline void chVTDoTickI(void) {
     port_timer_stop_alarm();

   }

   else {

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

-    port_timer_set_alarm(now + vtp->vt_delta);

+    /* Updating the alarm to the next deadline, deadline that must not be

+       closer in time than the minimum time delta.*/

+    if (vtp->vt_delta >= CH_CFG_ST_TIMEDELTA)

+      port_timer_set_alarm(now + vtp->vt_delta);

+    else

+      port_timer_set_alarm(now + CH_CFG_ST_TIMEDELTA);

   }

 #endif /* CH_CFG_ST_TIMEDELTA > 0 */

 }