git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7833 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 86 insertions, 27 deletions

diff --git a/os/hal/ports/STM32/LLD/TIMv1/st_lld.h b/os/hal/ports/STM32/LLD/TIMv1/st_lld.h
index 7e64b893b..9c5442158 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/st_lld.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/st_lld.h
@@ -164,6 +164,7 @@ static inline void st_lld_stop_alarm(void) {
 static inline void st_lld_set_alarm(systime_t time) {

 

   STM32_ST_TIM->CCR[0] = (uint32_t)time;

+  STM32_ST_TIM->SR     = 0;

 }

 

 /**

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 736d572b4..0bb127250 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -466,7 +466,6 @@ static inline void chVTDoTickI(void) {
   }

 #else /* CH_CFG_ST_TIMEDELTA > 0 */

   virtual_timer_t *vtp;

-  systime_t now, delta;

 

   /* The list is assumed to be non-empty because an tick interrupt just

      occurred.*/

@@ -482,6 +481,10 @@ static inline void chVTDoTickI(void) {
                                 chVTGetSystemTimeX() + 1),

               "out of time window");

 

+/*  if (now > 21) {

+     __BKPT(0);

+  }*/

+

   /* Timers processing loop.*/

   while (true) {

     vtfunc_t fn;

@@ -495,11 +498,6 @@ static inline void chVTDoTickI(void) {
     fn = vtp->vt_func;

     vtp->vt_func = NULL;

 

-    /* If the list is empty then the timer is stopped.*/

-    if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {

-      port_timer_stop_alarm();

-    }

-

     /* Leaving the system critical zone in order to execute the callback

        and in order to give a preemption chance to higher priority

        interrupts.*/

@@ -513,25 +511,33 @@ static inline void chVTDoTickI(void) {
     chSysLockFromISR();

 

     /* If the list is empty then ending the loop, the list has to be

-       re-checked because new timers could have been added from within

-       the callback.*/

+       re-checked because new timers could have been added/removed from

+       within the callback or other ISRs.*/

     vtp = ch.vtlist.vt_next;

     if (&ch.vtlist == (virtual_timers_list_t *)vtp) {

+      /* Timers list empty, stopping alarms.*/

+      port_timer_stop_alarm();

       return;

     }

 

     /* 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->vt_delta > delta) {

+    if (vtp->vt_delta > now - ch.vtlist.vt_lasttime) {

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

          closer in time than the minimum time delta.*/

-      delta = (vtp->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) ?

-               vtp->vt_delta : (systime_t)CH_CFG_ST_TIMEDELTA;

+      systime_t delta = ch.vtlist.vt_lasttime + vtp->vt_delta - now;

+      if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

+        delta = (systime_t)CH_CFG_ST_TIMEDELTA;

+      }

+

+//      if (now + delta >= 23) {

+//         __BKPT(0);

+//      }

+

       port_timer_set_alarm(now + delta);

 

       chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.vt_lasttime) < delta,

diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index 61fa7e056..eae49bd3a 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -99,13 +99,18 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   chDbgCheckClassI();

   chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));

 

+/*  systime_t tm = chVTGetSystemTimeX();

+  if (tm >= 23) {

+     __BKPT(0);

+  }*/

+

   vtp->vt_par = par;

   vtp->vt_func = vtfunc;

   p = ch.vtlist.vt_next;

 

-#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)

+#if CH_CFG_ST_TIMEDELTA > 0

   {

-    systime_t now = port_timer_get_time();

+    systime_t now = chVTGetSystemTimeX();

 

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

        is raised to the minimum safe value.*/

@@ -151,6 +156,11 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
      value in the header must be restored.*/;

   p->vt_delta -= delay;

   ch.vtlist.vt_delta = (systime_t)-1;

+

+/*  systime_t tmx = chVTGetSystemTimeX();

+  if (tmx >= 23) {

+     __BKPT(0);

+  }*/

 }

 

 /**

@@ -162,11 +172,24 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
  * @iclass

  */

 void chVTDoResetI(virtual_timer_t *vtp) {

+#if CH_CFG_ST_TIMEDELTA > 0

+  virtual_timer_t *first;

+#endif

 

   chDbgCheckClassI();

   chDbgCheck(vtp != NULL);

   chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");

 

+/*  systime_t tm = chVTGetSystemTimeX();

+  if (tm >= 23) {

+     __BKPT(0);

+  }*/

+

+  /* Checking if the element to be removed was the first in the list.*/

+#if CH_CFG_ST_TIMEDELTA > 0

+  first = ch.vtlist.vt_next;

+#endif

+

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

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

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

@@ -177,24 +200,53 @@ void chVTDoResetI(virtual_timer_t *vtp) {
      is the last of the list, restoring it.*/

   ch.vtlist.vt_delta = (systime_t)-1;

 

-#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)

+#if CH_CFG_ST_TIMEDELTA > 0

   {

+    systime_t nowdelta, delta;

+

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

+       return.*/

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

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

       port_timer_stop_alarm();

+      return;

     }

-    else {

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

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

-      if (ch.vtlist.vt_next->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) {

-        port_timer_set_alarm(ch.vtlist.vt_lasttime +

-                             ch.vtlist.vt_next->vt_delta);

-      }

-      else {

-        port_timer_set_alarm(ch.vtlist.vt_lasttime +

-                             (systime_t)CH_CFG_ST_TIMEDELTA);

-      }

+

+    /* If the removed element was not the first one then just return, the

+       alarm is already set to the first element.*/

+    if (vtp != first) {

+      return;

     }

+

+    /* If the new first element has a delta of zero then the alarm is not

+       modified, the already programmed alarm will serve it.*/

+    if (ch.vtlist.vt_next->vt_delta == 0) {

+      return;

+    }

+

+    /* Distance in ticks between the last alarm event and current time.*/

+    nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;

+

+    /* If the current time surpassed the time of the next element in list

+       then the event interrupt is already pending, just return.*/

+    if (nowdelta >= ch.vtlist.vt_next->vt_delta) {

+      return;

+    }

+

+    /* Distance from the next scheduled event and now.*/

+    delta = ch.vtlist.vt_next->vt_delta - nowdelta;

+

+    /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA

+       ticks from now.*/

+    if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {

+      delta = (systime_t)CH_CFG_ST_TIMEDELTA;

+    }

+

+    port_timer_set_alarm(ch.vtlist.vt_lasttime + nowdelta + delta);

+

+    systime_t tmx = chVTGetSystemTimeX();

+/*    if (tmx >= 23) {

+       __BKPT(0);

+    }*/

   }

 #endif /* CH_CFG_ST_TIMEDELTA > 0 */

 }