git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6024 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/ARMCM4-STM32F303-DISCOVERY/chconf.h

@@ -414,12 +414,12 @@
  * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
+ * @note    The default is @p FALSE.
- * @note    This debug option is defaulted to TRUE because it is required by
+ * @note    This debug option is not currently compatible with the
- *          some test cases into the test suite.
+ *          tickless mode.
  */
 #if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING            TRUE
+#define CH_DBG_THREADS_PROFILING            FALSE
 #endif
 
 /** @} */

demos/ARMCM4-STM32F303-DISCOVERY/main.c

@@ -18,6 +18,7 @@
 #include "hal.h"
 #include "test.h"
 
+#if 0
 /*
  * This is a periodic thread that does absolutely nothing except flashing LEDs.
  */
@@ -53,6 +54,33 @@ static msg_t Thread1(void *arg) {
     palClearPad(GPIOE, GPIOE_LED4_BLUE);
   }
 }
+#endif
+
+static WORKING_AREA(waThread1, 128);
+static msg_t Thread1(void *arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker1");
+  while (TRUE) {
+    palSetPad(GPIOE, GPIOE_LED3_RED);
+    chThdSleepMilliseconds(250);
+    palClearPad(GPIOE, GPIOE_LED3_RED);
+    chThdSleepMilliseconds(250);
+  }
+}
+
+static WORKING_AREA(waThread2, 128);
+static msg_t Thread2(void *arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker2");
+  while (TRUE) {
+    palSetPad(GPIOE, GPIOE_LED4_BLUE);
+    chThdSleepMilliseconds(500);
+    palClearPad(GPIOE, GPIOE_LED4_BLUE);
+    chThdSleepMilliseconds(500);
+  }
+}
 
 /*
  * Application entry point.
@@ -80,7 +108,8 @@ int main(void) {
   /*
    * Creates the example thread.
    */
-  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL);
+  chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO+2, Thread2, NULL);
 
   /*
    * Normal main() thread activity, in this demo it does nothing except

os/hal/platforms/STM32F30x/hal_lld.c

@@ -103,12 +103,18 @@ void hal_lld_init(void) {
   rccResetAPB1(0xFFFFFFFF);
   rccResetAPB2(0xFFFFFFFF);
 
+#if CH_CFG_TIMEDELTA == 0
   /* SysTick initialization using the system clock.*/
   SysTick->LOAD = STM32_HCLK / CH_CFG_FREQUENCY - 1;
   SysTick->VAL = 0;
   SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
                   SysTick_CTRL_ENABLE_Msk |
                   SysTick_CTRL_TICKINT_Msk;
+#else
+  rccEnableAPB1(RCC_APB1ENR_TIM2EN, TRUE);
+  nvicEnableVector(28, CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));
+  TIM2->PSC = STM32_TIMCLK2 / CH_CFG_FREQUENCY - 1;
+#endif
 
   /* DWT cycle counter enable.*/
   SCS_DEMCR |= SCS_DEMCR_TRCENA;

os/kernel/include/chvt.h

@@ -41,6 +41,14 @@
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
+#if CH_CFG_FREQUENCY <= 0
+#error "invalid CH_CFG_FREQUENCY specified"
+#endif
+
+#if (CH_CFG_TIMEDELTA < 0) || (CH_CFG_TIMEDELTA == 1)
+#error "invalid NIL_CFG_TIMEDELTA specified"
+#endif
+
 /*===========================================================================*/
 /* Module data structures and types.                                         */
 /*===========================================================================*/
@@ -387,6 +395,8 @@ static inline void chVTDoTickI(void) {
   systime_t delta = now - vtlist.vt_lasttime;
 
   while ((vtp = vtlist.vt_next)->vt_delta <= delta) {
+    delta -= vtp->vt_delta;
+    vtlist.vt_lasttime += vtp->vt_delta;
     vtfunc_t fn = vtp->vt_func;
     vtp->vt_func = (vtfunc_t)NULL;
     vtp->vt_next->vt_prev = (void *)&vtlist;
@@ -401,10 +411,7 @@ static inline void chVTDoTickI(void) {
     port_timer_stop_alarm();
   }
   else {
-    /* The delta is subtracted to the next list element, the current time
+    /* Updating the alarm to the next deadline.*/
-       becomes the new delta list base time.*/
-    vtp->vt_delta -= delta;
-    vtlist.vt_lasttime = now;
     port_timer_set_alarm(now + vtp->vt_delta);
   }
 #endif /* CH_CFG_TIMEDELTA > 0 */

os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c

@@ -53,7 +53,7 @@
  *
  * @isr
  */
-CH_IRQ_HANDLER(Vector7C) {
+CH_IRQ_HANDLER(VectorB0) {
 
   CH_IRQ_PROLOGUE();
 

os/ports/GCC/ARMCMx/chcore_v7m.c

@@ -124,6 +124,8 @@ void _port_init(void) {
 #if CH_CFG_TIMEDELTA == 0
   nvicSetSystemHandlerPriority(HANDLER_SYSTICK,
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));
+#else
+  port_timer_init();
 #endif
 }