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Added support for "large virtual timers", those allows for intervals greater than the system time capability. To be tested. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/rt5_dev_point1@10814 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2017-10-12 13:31:42 +00:00
parent d8b32d7f63
commit 4d0b8bdf6e
4 changed files with 44 additions and 16 deletions
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2
demos/STM32/RT-STM32F746G-DISCOVERY/Makefile
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@ -5,7 +5,7 @@
# Compiler options here. # Compiler options here.
ifeq ($(USE_OPT),) ifeq ($(USE_OPT),)
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
endif endif
# C specific options here (added to USE_OPT). # C specific options here (added to USE_OPT).

23
os/rt/include/chtime.h
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@ -42,7 +42,7 @@
* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
* see the specific function documentation. * see the specific function documentation.
*/ */
#define TIME_IMMEDIATE ((sysinterval_t)0) #define TIME_IMMEDIATE ((sysinterval_t)0)
/** /**
* @brief Infinite interval specification for all functions with a timeout * @brief Infinite interval specification for all functions with a timeout
@ -50,12 +50,17 @@
* @note Not all functions accept @p TIME_INFINITE as timeout parameter, * @note Not all functions accept @p TIME_INFINITE as timeout parameter,
* see the specific function documentation. * see the specific function documentation.
*/ */
#define TIME_INFINITE ((sysinterval_t)-1) #define TIME_INFINITE ((sysinterval_t)-1)
/** /**
* @brief Maximum interval constant usable as timeout. * @brief Maximum interval constant usable as timeout.
*/ */
#define TIME_MAXIMUM ((sysinterval_t)-2) #define TIME_MAX_INTERVAL ((sysinterval_t)-2)
/**
* @brief Maximum system of system time before it wraps.
*/
#define TIME_MAX_SYSTIME ((systime_t)-1)
/** @} */ /** @} */
/*===========================================================================*/ /*===========================================================================*/
@ -141,11 +146,11 @@ typedef uint16_t systime_t;
* @brief Type of time interval. * @brief Type of time interval.
* @note It is selectable in configuration between 16, 32 or 64 bits * @note It is selectable in configuration between 16, 32 or 64 bits
*/ */
#if (CH_CFG_ST_RESOLUTION == 64) || defined(__DOXYGEN__) #if (CH_CFG_INTERVALS_SIZE == 64) || defined(__DOXYGEN__)
typedef uint64_t sysinterval_t; typedef uint64_t sysinterval_t;
#elif CH_CFG_ST_RESOLUTION == 32 #elif CH_CFG_INTERVALS_SIZE == 32
typedef uint32_t sysinterval_t; typedef uint32_t sysinterval_t;
#elif CH_CFG_ST_RESOLUTION == 16 #elif CH_CFG_INTERVALS_SIZE == 16
typedef uint16_t sysinterval_t; typedef uint16_t sysinterval_t;
#endif #endif
@ -336,7 +341,7 @@ static inline sysinterval_t chTimeS2I(time_secs_t secs) {
ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY; ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY;
chDbgAssert(ticks <= (time_conv_t)TIME_MAXIMUM, chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
"conversion overflow"); "conversion overflow");
return (sysinterval_t)ticks; return (sysinterval_t)ticks;
@ -358,7 +363,7 @@ static inline sysinterval_t chTimeMS2I(time_msecs_t msec) {
ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) + ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
(time_conv_t)999) / (time_conv_t)1000; (time_conv_t)999) / (time_conv_t)1000;
chDbgAssert(ticks <= (time_conv_t)TIME_MAXIMUM, chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
"conversion overflow"); "conversion overflow");
return (sysinterval_t)ticks; return (sysinterval_t)ticks;
@ -380,7 +385,7 @@ static inline sysinterval_t chTimeUS2I(time_usecs_t usec) {
ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) + ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
(time_conv_t)999999) / (time_conv_t)1000000; (time_conv_t)999999) / (time_conv_t)1000000;
chDbgAssert(ticks <= (time_conv_t)TIME_MAXIMUM, chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
"conversion overflow"); "conversion overflow");
return (sysinterval_t)ticks; return (sysinterval_t)ticks;

8
os/rt/include/chvt.h
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@ -72,7 +72,7 @@
extern "C" { extern "C" {
#endif #endif
void _vt_init(void); void _vt_init(void);
void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par); vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp); void chVTDoResetI(virtual_timer_t *vtp);
#ifdef __cplusplus #ifdef __cplusplus
@ -447,6 +447,12 @@ static inline void chVTDoTickI(void) {
if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) { if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
delta = (sysinterval_t)CH_CFG_ST_TIMEDELTA; delta = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
} }
#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) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(now, delta)); port_timer_set_alarm(chTimeAddX(now, delta));
chDbgAssert(chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX()) <= chDbgAssert(chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX()) <=

27
os/rt/src/chvt.c
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@ -146,9 +146,18 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
p = p->next; p = p->next;
} }
else if (delta < p->delta) { else if (delta < p->delta) {
/* A small delay that will become the first element in the delta list sysinterval_t deadline_delta;
and next deadline.*/
port_timer_set_alarm(chTimeAddX(ch.vtlist.lasttime, delta)); /* A small delay that will become the first element in the delta list
and next deadline.*/
deadline_delta = delta;
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
if (deadline_delta > (sysinterval_t)TIME_MAX_SYSTIME) {
deadline_delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(ch.vtlist.lasttime, deadline_delta));
} }
} }
#else /* CH_CFG_ST_TIMEDELTA == 0 */ #else /* CH_CFG_ST_TIMEDELTA == 0 */
@ -207,7 +216,7 @@ void chVTDoResetI(virtual_timer_t *vtp) {
is the last of the list, restoring it.*/ is the last of the list, restoring it.*/
ch.vtlist.delta = (sysinterval_t)-1; ch.vtlist.delta = (sysinterval_t)-1;
#else /* CH_CFG_ST_TIMEDELTA > 0 */ #else /* CH_CFG_ST_TIMEDELTA > 0 */
sysinterval_t nowdelta, delta; sysinterval_t nowdelta, delta, deadline_delta;
/* If the timer is not the first of the list then it is simply unlinked /* If the timer is not the first of the list then it is simply unlinked
else the operation is more complex.*/ else the operation is more complex.*/
@ -263,7 +272,15 @@ void chVTDoResetI(virtual_timer_t *vtp) {
delta = (systime_t)CH_CFG_ST_TIMEDELTA; delta = (systime_t)CH_CFG_ST_TIMEDELTA;
} }
port_timer_set_alarm(chTimeAddX(ch.vtlist.lasttime, nowdelta + delta)); /* Next deadline.*/
deadline_delta = nowdelta + delta;
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
if (deadline_delta > (sysinterval_t)TIME_MAX_SYSTIME) {
deadline_delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(ch.vtlist.lasttime, deadline_delta));
#endif /* CH_CFG_ST_TIMEDELTA > 0 */ #endif /* CH_CFG_ST_TIMEDELTA > 0 */
} }