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ChibiOS
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Fixed and optimizations, NOW it seems to work for intervals larger than system time. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/rt5_dev_point1@10818 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2017-10-13 12:35:40 +00:00
parent 882e9afb95
commit cb72582805
3 changed files with 17 additions and 15 deletions
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8
demos/STM32/RT-STM32F746G-DISCOVERY/main.c
View File

@ -29,9 +29,9 @@ static THD_FUNCTION(Thread1, arg) {
chRegSetThreadName("blinker"); chRegSetThreadName("blinker");
while (true) { while (true) {
palSetLine(LINE_ARD_D13); palSetLine(LINE_ARD_D13);
chThdSleepMilliseconds(500); chThdSleepMilliseconds(1000);
palClearLine(LINE_ARD_D13); palClearLine(LINE_ARD_D13);
chThdSleepMilliseconds(500); chThdSleepMilliseconds(1000);
} }
} }
@ -64,7 +64,7 @@ int main(void) {
/* /*
* Creates the example thread. * 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 * Normal main() thread activity, in this demo it does nothing except
@ -73,6 +73,6 @@ int main(void) {
while (true) { while (true) {
// if (palReadLine(LINE_BUTTON_USER)) // if (palReadLine(LINE_BUTTON_USER))
// test_execute((BaseSequentialStream *)&SD1); // test_execute((BaseSequentialStream *)&SD1);
chThdSleepMilliseconds(500); chThdSleepMilliseconds(2000);
} }
} }

4
os/rt/include/chtime.h
View File

@ -488,7 +488,7 @@ static inline systime_t chTimeAddX(systime_t systime,
*/ */
static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) { 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 start,
systime_t end) { systime_t end) {
return (bool)((systime_t)(time - start) < (systime_t)(end - start)); return (bool)((time - start) < (end - start));
} }
/** @} */ /** @} */

20
os/rt/include/chvt.h
View File

@ -393,12 +393,11 @@ static inline void chVTDoTickI(void) {
#else /* CH_CFG_ST_TIMEDELTA > 0 */ #else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp; virtual_timer_t *vtp;
systime_t now; systime_t now;
sysinterval_t delta; sysinterval_t delta, nowdelta;
/* Looping through timers.*/ /* Looping through timers.*/
vtp = ch.vtlist.next; vtp = ch.vtlist.next;
while (true) { while (true) {
sysinterval_t nowdelta;
/* Getting the system time as reference.*/ /* Getting the system time as reference.*/
now = chVTGetSystemTimeX(); now = chVTGetSystemTimeX();
@ -407,7 +406,7 @@ static inline void chVTDoTickI(void) {
/* The list scan is limited by the timers header having /* The list scan is limited by the timers header having
"ch.vtlist.vt_delta == (sysinterval_t)-1" which is "ch.vtlist.vt_delta == (sysinterval_t)-1" which is
greater than all deltas.*/ greater than all deltas.*/
if (vtp->delta > nowdelta) { if (nowdelta < vtp->delta) {
break; break;
} }
@ -415,8 +414,9 @@ static inline void chVTDoTickI(void) {
do { do {
vtfunc_t fn; vtfunc_t fn;
/* Recalculated delta.*/ /* The "last time" becomes this timer's expiration time.*/
nowdelta = nowdelta - vtp->delta; ch.vtlist.lasttime += vtp->delta;
nowdelta -= vtp->delta;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist; vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next; ch.vtlist.next = vtp->next;
@ -437,9 +437,6 @@ static inline void chVTDoTickI(void) {
vtp = ch.vtlist.next; vtp = ch.vtlist.next;
} }
while (vtp->delta <= nowdelta); 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.*/ /* if the list is empty, nothing else to do.*/
@ -447,6 +444,11 @@ static inline void chVTDoTickI(void) {
return; 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.*/ /* Recalculating the next alarm time.*/
delta = chTimeDiffX(now, chTimeAddX(ch.vtlist.lasttime, vtp->delta)); delta = chTimeDiffX(now, chTimeAddX(ch.vtlist.lasttime, vtp->delta));
if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) { 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 #if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/ /* 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; delta = (sysinterval_t)TIME_MAX_SYSTIME;
} }
#endif #endif