Tentative fix for VTs and various improvements.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14340 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio
parent
84c18f04a5
commit
f506bdca05
121
os/rt/src/chvt.c
121
os/rt/src/chvt.c
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@ -461,86 +461,69 @@ void chVTDoTickI(void) {
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#else /* CH_CFG_ST_TIMEDELTA > 0 */
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delta_list_t *dlp;
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sysinterval_t delta, nowdelta;
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systime_t now = chVTGetSystemTimeX();
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systime_t now;
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/* Delta between current time and last execution time.*/
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now = chVTGetSystemTimeX();
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nowdelta = chTimeDiffX(vtlp->lasttime, now);
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/* Looping through timers.*/
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dlp = vtlp->dlist.next;
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while (true) {
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virtual_timer_t *vtp = (virtual_timer_t *)dlp;
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/* Delta between current time and last execution time.*/
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nowdelta = chTimeDiffX(vtlp->lasttime, now);
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/* The list scan is limited by the timers header having
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"vtlp->dlist.delta == (sysinterval_t)-1" which is
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/* Checking if the next timer in the list is within the current
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time delta. Note that the list scan is limited by the timers
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header having "vtlp->dlist.delta == (sysinterval_t)-1" which is
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greater than all deltas.*/
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if (nowdelta < dlp->delta) {
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break;
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}
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/* Consuming all timers between "vtp->lasttime" and now.*/
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do {
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virtual_timer_t *vtp = (virtual_timer_t *)dlp;
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/* Last time deadline is updated to the next timer's time.*/
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vtlp->lasttime = chTimeAddX(vtlp->lasttime, dlp->delta);
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vtp->last = vtlp->lasttime;
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/* The "last time" becomes this timer's expiration time.*/
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// vtlp->lasttime += dlp->delta;
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vtlp->lasttime = chTimeAddX(vtlp->lasttime, dlp->delta);
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nowdelta -= dlp->delta;
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chDbgAssert((int)chTimeDiffX(vtlp->lasttime, now) >= 0, "back in time");
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/* Removing the timer from the list, marking it as not armed.*/
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dlp->next->prev = &vtlp->dlist;
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vtlp->dlist.next = dlp->next;
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dlp->next = NULL;
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/* Removing the next timer from the list, marking it as not armed.*/
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dlp->next->prev = &vtlp->dlist;
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vtlp->dlist.next = dlp->next;
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dlp->next = NULL;
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/* If the list becomes empty then the timer is stopped.*/
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if (is_vtlist_empty(&vtlp->dlist)) {
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port_timer_stop_alarm();
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}
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/* Now "last" marks the current deadline based on the stored
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reload value. It is done before calling the callback because
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the reload value could change. Note that "reload" could be
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zero, no harm.*/
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vtp->last = chTimeAddX(vtp->last, vtp->reload);
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/* The callback is invoked outside the kernel critical zone.*/
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chSysUnlockFromISR();
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vtp->func(vtp->par);
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chSysLockFromISR();
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/* Getting again the system time after executing the callback in
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order to reduce error.*/
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now = chVTGetSystemTimeX();
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// chDbgAssert((int)chTimeDiffX(vtp->last, now) >= 0, "back in time");
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/* If a reload is defined the timer needs to be restarted.*/
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if (vtp->reload > (sysinterval_t)0) {
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sysinterval_t skipped_delta;
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#if 1
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/* Calculating how much the actual current time skipped past the
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predicted current deadline.*/
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skipped_delta = chTimeDiffX(vtp->last, now);
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// if (vtp->reload == 121) {
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// chTraceWriteI(vtp, (void *)now);
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// chTraceWriteI(vtp, (void *)vtp->last);
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// chTraceWriteI(vtp, (void *)skipped_delta);
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// }
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chDbgAssert(skipped_delta <= vtp->reload, "skipped deadline");
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/* Enqueuing the timer again using the calculated delta.*/
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vt_enqueue(vtlp, vtp, now, vtp->reload - skipped_delta);
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#else
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chVTDoSetI(vtp, vtp->reload, vtp->func, vtp->par);
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#endif
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}
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/* Next element in the list.*/
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dlp = vtlp->dlist.next;
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/* If the list becomes empty then the timer is stopped.*/
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if (is_vtlist_empty(&vtlp->dlist)) {
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port_timer_stop_alarm();
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}
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while (dlp->delta <= nowdelta);
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/* The callback is invoked outside the kernel critical section, it
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is re-entered on the callback return. Note that "lasttime" can
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be modified within the callback if some timer function is
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called.*/
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chSysUnlockFromISR();
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vtp->func(vtp->par);
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chSysLockFromISR();
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/* Delta between current time and last execution time.*/
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now = chVTGetSystemTimeX();
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nowdelta = chTimeDiffX(vtlp->lasttime, now);
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/* If a reload is defined the timer needs to be restarted.*/
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if (vtp->reload > (sysinterval_t)0) {
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sysinterval_t skipped_delta;
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/* Calculating how much the actual current time skipped past the
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current deadline.*/
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skipped_delta = chTimeDiffX(vtp->last, now);
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chDbgAssert(skipped_delta <= vtp->reload, "skipped deadline");
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/* Enqueuing the timer again using the calculated delta.*/
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vt_enqueue(vtlp, vtp, now, vtp->reload - skipped_delta);
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}
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/* Next element in the list.*/
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dlp = vtlp->dlist.next;
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}
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/* If the list is empty, nothing else to do.*/
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@ -548,12 +531,6 @@ void chVTDoTickI(void) {
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return;
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}
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/* The "unprocessed nowdelta" time slice is added to "last time"
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and subtracted to next timer's delta.*/
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// vtlp->lasttime += nowdelta;
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// vtlp->lasttime = chTimeAddX(vtlp->lasttime, nowdelta);
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// vtlp->dlist.next->delta -= nowdelta;
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/* Recalculating the next alarm time.*/
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delta = dlp->delta - chTimeDiffX(vtlp->lasttime, now);
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if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
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