From 32b5cd534e36da1dd2da1f021e07ed04966d8b60 Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Thu, 6 May 2021 13:17:03 +0000
Subject: [PATCH] Restored old vt_storm.c without reloads.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14341 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
---
 testrt/VT_STORM/source/vt_storm.c | 27 ++++++++++++++++++++++-----
 1 file changed, 22 insertions(+), 5 deletions(-)

diff --git a/testrt/VT_STORM/source/vt_storm.c b/testrt/VT_STORM/source/vt_storm.c
index e3ed6db27..b24a2662f 100644
--- a/testrt/VT_STORM/source/vt_storm.c
+++ b/testrt/VT_STORM/source/vt_storm.c
@@ -86,27 +86,44 @@ static void sweeper0_cb(void *p) {
 
   chSysLockFromISR();
   chVTSetI(&wrapper, (sysinterval_t)-1, wrapper_cb, NULL);
+  chVTSetI(&sweeper0, delay, sweeper0_cb, NULL);
   chSysUnlockFromISR();
 }
 
 static void sweeperm1_cb(void *p) {
 
   (void)p;
+
+  chSysLockFromISR();
+  chVTSetI(&sweeperm1, delay - 1, sweeperm1_cb, NULL);
+  chSysUnlockFromISR();
 }
 
 static void sweeperp1_cb(void *p) {
 
   (void)p;
+
+  chSysLockFromISR();
+  chVTSetI(&sweeperp1, delay + 1, sweeperp1_cb, NULL);
+  chSysUnlockFromISR();
 }
 
 static void sweeperm3_cb(void *p) {
 
   (void)p;
+
+  chSysLockFromISR();
+  chVTSetI(&sweeperm3, delay - 3, sweeperm3_cb, NULL);
+  chSysUnlockFromISR();
 }
 
 static void sweeperp3_cb(void *p) {
 
   (void)p;
+
+  chSysLockFromISR();
+  chVTSetI(&sweeperp3, delay + 3, sweeperp3_cb, NULL);
+  chSysUnlockFromISR();
 }
 
 /*===========================================================================*/
@@ -165,11 +182,11 @@ void vt_storm_execute(const vt_storm_config_t *cfg) {
       /* Starting sweepers.*/
       chSysLock();
       chVTSetI(&watchdog, TIME_MS2I(501), watchdog_cb, NULL);
-      chVTSetContinuousI(&sweeper0, delay, sweeper0_cb, NULL);
-      chVTSetContinuousI(&sweeperm1, delay - 1, sweeperm1_cb, NULL);
-      chVTSetContinuousI(&sweeperp1, delay + 1, sweeperp1_cb, NULL);
-      chVTSetContinuousI(&sweeperm3, delay - 3, sweeperm3_cb, NULL);
-      chVTSetContinuousI(&sweeperp3, delay + 3, sweeperp3_cb, NULL);
+      chVTSetI(&sweeper0, delay, sweeper0_cb, NULL);
+      chVTSetI(&sweeperm1, delay - 1, sweeperm1_cb, NULL);
+      chVTSetI(&sweeperp1, delay + 1, sweeperp1_cb, NULL);
+      chVTSetI(&sweeperm3, delay - 3, sweeperm3_cb, NULL);
+      chVTSetI(&sweeperp3, delay + 3, sweeperp3_cb, NULL);
       chVTSetI(&wrapper, (sysinterval_t) - 1, wrapper_cb, NULL);
 
       /* Letting them run for half second.*/