diff options
| -rw-r--r-- | demos/STM32/RT-STM32F746G-DISCOVERY/main.c | 8 | ||||
| -rw-r--r-- | os/rt/include/chtime.h | 4 | ||||
| -rw-r--r-- | os/rt/include/chvt.h | 20 |
3 files changed, 17 insertions, 15 deletions
diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/main.c b/demos/STM32/RT-STM32F746G-DISCOVERY/main.c index 0e62e3604..5199ddf37 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/main.c +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/main.c @@ -29,9 +29,9 @@ static THD_FUNCTION(Thread1, arg) { chRegSetThreadName("blinker");
while (true) {
palSetLine(LINE_ARD_D13);
- chThdSleepMilliseconds(500);
+ chThdSleepMilliseconds(1000);
palClearLine(LINE_ARD_D13);
- chThdSleepMilliseconds(500);
+ chThdSleepMilliseconds(1000);
}
}
@@ -64,7 +64,7 @@ int main(void) { /*
* Creates the example thread.
*/
- chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
@@ -73,6 +73,6 @@ int main(void) { while (true) {
// if (palReadLine(LINE_BUTTON_USER))
// test_execute((BaseSequentialStream *)&SD1);
- chThdSleepMilliseconds(500);
+ chThdSleepMilliseconds(2000);
}
}
diff --git a/os/rt/include/chtime.h b/os/rt/include/chtime.h index e2e3402ef..701dfb4d5 100644 --- a/os/rt/include/chtime.h +++ b/os/rt/include/chtime.h @@ -488,7 +488,7 @@ static inline systime_t chTimeAddX(systime_t systime, */
static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {
- return (sysinterval_t)(end - start);
+ return (sysinterval_t)((systime_t)(end - start));
}
@@ -509,7 +509,7 @@ static inline bool chTimeIsInRangeX(systime_t time, systime_t start,
systime_t end) {
- return (bool)((systime_t)(time - start) < (systime_t)(end - start));
+ return (bool)((time - start) < (end - start));
}
/** @} */
diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h index b3a803c1a..e115bec63 100644 --- a/os/rt/include/chvt.h +++ b/os/rt/include/chvt.h @@ -393,12 +393,11 @@ static inline void chVTDoTickI(void) { #else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp;
systime_t now;
- sysinterval_t delta;
+ sysinterval_t delta, nowdelta;
/* Looping through timers.*/
vtp = ch.vtlist.next;
while (true) {
- sysinterval_t nowdelta;
/* Getting the system time as reference.*/
now = chVTGetSystemTimeX();
@@ -407,7 +406,7 @@ static inline void chVTDoTickI(void) { /* The list scan is limited by the timers header having
"ch.vtlist.vt_delta == (sysinterval_t)-1" which is
greater than all deltas.*/
- if (vtp->delta > nowdelta) {
+ if (nowdelta < vtp->delta) {
break;
}
@@ -415,8 +414,9 @@ static inline void chVTDoTickI(void) { do {
vtfunc_t fn;
- /* Recalculated delta.*/
- nowdelta = nowdelta - vtp->delta;
+ /* The "last time" becomes this timer's expiration time.*/
+ ch.vtlist.lasttime += vtp->delta;
+ nowdelta -= vtp->delta;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
@@ -437,9 +437,6 @@ static inline void chVTDoTickI(void) { vtp = ch.vtlist.next;
}
while (vtp->delta <= nowdelta);
-
- /* The "last time" is set to the current time.*/
- ch.vtlist.lasttime = now;
}
/* if the list is empty, nothing else to do.*/
@@ -447,6 +444,11 @@ static inline void chVTDoTickI(void) { return;
}
+ /* The "unprocessed nowdelta" time slice is added to "last time"
+ and subtracted to next timer's delta.*/
+ ch.vtlist.lasttime += nowdelta;
+ ch.vtlist.next->delta -= nowdelta;
+
/* Recalculating the next alarm time.*/
delta = chTimeDiffX(now, chTimeAddX(ch.vtlist.lasttime, vtp->delta));
if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
@@ -454,7 +456,7 @@ static inline void chVTDoTickI(void) { }
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
- if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
+ else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
|