git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6022 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 42 insertions, 23 deletions

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index 83d7e423c..58eee9c7c 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -40,7 +40,7 @@
 /**

  * @brief   Kernel version string.

  */

-#define CH_KERNEL_VERSION       "2.7.0unstable"

+#define CH_KERNEL_VERSION       "3.0.0dev"

 

 /**

  * @name    Kernel version

@@ -49,12 +49,12 @@
 /**

  * @brief   Kernel version major number.

  */

-#define CH_KERNEL_MAJOR         2

+#define CH_KERNEL_MAJOR         3

 

 /**

  * @brief   Kernel version minor number.

  */

-#define CH_KERNEL_MINOR         7

+#define CH_KERNEL_MINOR         0

 

 /**

  * @brief   Kernel version patch number.

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 222b3c843..2c4b489d5 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -382,19 +382,30 @@ static inline void chVTDoTickI(void) {
     }

   }

 #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;

-      vtlist.vt_next = vtp->vt_next;

-      chSysUnlockFromIsr();

-      fn(vtp->vt_par);

-      chSysLockFromIsr();

-    }

+  virtual_timer_t *vtp;

+  systime_t now = chVTGetSystemTimeI();

+  systime_t delta = now - vtlist.vt_lasttime;

+

+  while ((vtp = vtlist.vt_next)->vt_delta <= 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();

+  }

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

+    /* The list is empty, no tick event needed so the alarm timer

+       is stopped.*/

+    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;

+    port_timer_set_alarm(now + vtp->vt_delta);

   }

 #endif /* CH_CFG_TIMEDELTA > 0 */

 }

diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c
index c03d442fc..e5d6d1aa3 100644
--- a/os/kernel/src/chvt.c
+++ b/os/kernel/src/chvt.c
@@ -139,14 +139,22 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
     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)

+    if (&vtlist == (virtual_timers_list_t *)p) {

+      /* The delta list is empty, the current time becomes the new

+         delta list base time.*/

+      vtlist.vt_lasttime = now;

       port_timer_start_alarm(vtlist.vt_lasttime + delay);

-    else if (delay < p->vt_delta)

-      port_timer_set_alarm(vtlist.vt_lasttime + delay);

+    }

+    else {

+      /* Now the delay is calculated as delta from the last tick interrupt

+         time.*/

+      delay += now - vtlist.vt_lasttime;

+

+      /* If the specified delay is closer in time than the first element

+         in the delta list then it becomes the next alarm event in time.*/

+      if (delay < p->vt_delta)

+        port_timer_set_alarm(vtlist.vt_lasttime + delay);

+    }

   }

 #endif /* CH_CFG_TIMEDELTA > 0 */