rusefi
/
ChibiOS
mirror of https://github.com/rusefi/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tentative fix for bug #1104. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13709 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2020-06-14 08:30:05 +00:00
parent f5cd1ffca6
commit 041b369f3e
3 changed files with 162 additions and 132 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

111
os/rt/include/chvt.h
View File

@ -75,6 +75,7 @@ extern "C" {
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp);
void chVTDoTickI(void);
#ifdef __cplusplus
}
#endif
@ -356,116 +357,6 @@ static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
chSysUnlock();
}
/**
* @brief Virtual timers ticker.
* @note The system lock is released before entering the callback and
* re-acquired immediately after. It is callback's responsibility
* to acquire the lock if needed. This is done in order to reduce
* interrupts jitter when many timers are in use.
*
* @iclass
*/
static inline void chVTDoTickI(void) {
chDbgCheckClassI();
#if CH_CFG_ST_TIMEDELTA == 0
ch.vtlist.systime++;
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
/* The list is not empty, processing elements on top.*/
--ch.vtlist.next->delta;
while (ch.vtlist.next->delta == (sysinterval_t)0) {
virtual_timer_t *vtp;
vtfunc_t fn;
vtp = ch.vtlist.next;
fn = vtp->func;
vtp->func = NULL;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
chSysUnlockFromISR();
fn(vtp->par);
chSysLockFromISR();
}
}
#else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp;
systime_t now;
sysinterval_t delta, nowdelta;
/* Looping through timers.*/
vtp = ch.vtlist.next;
while (true) {
/* Getting the system time as reference.*/
now = chVTGetSystemTimeX();
nowdelta = chTimeDiffX(ch.vtlist.lasttime, now);
/* The list scan is limited by the timers header having
"ch.vtlist.vt_delta == (sysinterval_t)-1" which is
greater than all deltas.*/
if (nowdelta < vtp->delta) {
break;
}
/* Consuming all timers between "vtp->lasttime" and now.*/
do {
vtfunc_t fn;
/* The "last time" becomes this timer's expiration time.*/
ch.vtlist.lasttime += vtp->delta;
nowdelta -= vtp->delta;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
fn = vtp->func;
vtp->func = NULL;
/* If the list becomes empty then the timer is stopped.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
port_timer_stop_alarm();
}
/* The callback is invoked outside the kernel critical zone.*/
chSysUnlockFromISR();
fn(vtp->par);
chSysLockFromISR();
/* Next element in the list.*/
vtp = ch.vtlist.next;
}
while (vtp->delta <= nowdelta);
}
/* If the list is empty, nothing else to do.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
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.*/
delta = vtp->delta - chTimeDiffX(ch.vtlist.lasttime, now);
if (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.*/
else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(now, delta));
chDbgAssert(chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX()) <=
chTimeDiffX(ch.vtlist.lasttime, chTimeAddX(now, delta)),
"exceeding delta");
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
#endif /* CHVT_H */
/** @} */

181
os/rt/src/chvt.c
View File

@ -48,6 +48,36 @@
/* Module local functions. */
/*===========================================================================*/
#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
/**
* @brief Delta list compression.
*
* @param[in] vtpl pointer to the delta list to be compressed
* @param[in] deltanow interval to be compacted starting from "lasttime"
*
* @notapi
*/
static void __vt_compress(virtual_timers_list_t *vtlp,
sysinterval_t deltanow) {
virtual_timer_t *vtp = vtlp->next;
/* The loop is bounded because the delta list header has the delta field
set to (sysinterval_t)-1 which is larger than all deltas.*/
while (vtp->delta < deltanow) {
deltanow -= vtp->delta;
vtp->delta = (sysinterval_t)0;
vtp = vtp->next;
}
vtlp->lasttime = vtlp->lasttime + deltanow;
/* Adjusting next timer in the list, if any.*/
if (vtlp != (virtual_timers_list_t *)vtp) {
vtp->delta -= deltanow;
}
}
#endif
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
@ -94,6 +124,7 @@ void _vt_init(void) {
*/
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &ch.vtlist;
virtual_timer_t *p;
sysinterval_t delta;
@ -106,6 +137,7 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
#if CH_CFG_ST_TIMEDELTA > 0
{
systime_t now = chVTGetSystemTimeX();
sysinterval_t deltanow;
/* If the requested delay is lower than the minimum safe delta then it
is raised to the minimum safe value.*/
@ -114,13 +146,13 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
}
/* Special case where the timers list is empty.*/
if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.next) {
if (vtlp == (virtual_timers_list_t *)vtlp->next) {
/* The delta list is empty, the current time becomes the new
delta list base time, the timer is inserted.*/
ch.vtlist.lasttime = now;
ch.vtlist.next = vtp;
ch.vtlist.prev = vtp;
vtlp->lasttime = now;
vtlp->next = vtp;
vtlp->prev = vtp;
vtp->next = (virtual_timer_t *)&ch.vtlist;
vtp->prev = (virtual_timer_t *)&ch.vtlist;
vtp->delta = delay;
@ -133,26 +165,23 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
#endif
/* Being the first element in the list the alarm timer is started.*/
port_timer_start_alarm(chTimeAddX(ch.vtlist.lasttime, delay));
port_timer_start_alarm(chTimeAddX(vtlp->lasttime, delay));
return;
}
/* Pointer to the first element in the delta list, which is non-empty.*/
p = ch.vtlist.next;
/* Delay as delta from 'lasttime'. Note, it can overflow and the value
becomes lower than 'now'.*/
delta = chTimeDiffX(ch.vtlist.lasttime, now) + delay;
becomes lower than 'deltanow'.*/
deltanow = chTimeDiffX(vtlp->lasttime, now);
delta = deltanow + delay;
if (delta < chTimeDiffX(ch.vtlist.lasttime, now)) {
/* Scenario where a very large delay excedeed the numeric range, it
requires a special handling. We need to skip the first element and
adjust the delta to wrap back in the previous numeric range.*/
delta -= p->delta;
p = p->next;
/* Scenario where a very large delay exceeded the numeric range, it
requires a special handling, the compression procedure.*/
if (delta < deltanow) {
__vt_compress(vtlp, deltanow);
delta -= deltanow;
}
else if (delta < p->delta) {
else if (delta < vtlp->next->delta) {
sysinterval_t deadline_delta;
/* A small delay that will become the first element in the delta list
@ -164,19 +193,17 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
deadline_delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(ch.vtlist.lasttime, deadline_delta));
port_timer_set_alarm(chTimeAddX(vtlp->lasttime, deadline_delta));
}
}
#else /* CH_CFG_ST_TIMEDELTA == 0 */
/* Delta is initially equal to the specified delay.*/
delta = delay;
/* Pointer to the first element in the delta list.*/
p = ch.vtlist.next;
#endif /* CH_CFG_ST_TIMEDELTA == 0 */
/* The delta list is scanned in order to find the correct position for
this timer. */
p = vtlp->next;
while (p->delta < delta) {
/* Debug assert if the timer is already in the list.*/
chDbgAssert(p != vtp, "timer already armed");
@ -197,7 +224,7 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
/* Special case when the timer is in last position in the list, the
value in the header must be restored.*/
ch.vtlist.delta = (sysinterval_t)-1;
vtlp->delta = (sysinterval_t)-1;
}
/**
@ -296,4 +323,114 @@ void chVTDoResetI(virtual_timer_t *vtp) {
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
/**
* @brief Virtual timers ticker.
* @note The system lock is released before entering the callback and
* re-acquired immediately after. It is callback's responsibility
* to acquire the lock if needed. This is done in order to reduce
* interrupts jitter when many timers are in use.
*
* @iclass
*/
void chVTDoTickI(void) {
chDbgCheckClassI();
#if CH_CFG_ST_TIMEDELTA == 0
ch.vtlist.systime++;
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
/* The list is not empty, processing elements on top.*/
--ch.vtlist.next->delta;
while (ch.vtlist.next->delta == (sysinterval_t)0) {
virtual_timer_t *vtp;
vtfunc_t fn;
vtp = ch.vtlist.next;
fn = vtp->func;
vtp->func = NULL;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
chSysUnlockFromISR();
fn(vtp->par);
chSysLockFromISR();
}
}
#else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp;
systime_t now;
sysinterval_t delta, nowdelta;
/* Looping through timers.*/
vtp = ch.vtlist.next;
while (true) {
/* Getting the system time as reference.*/
now = chVTGetSystemTimeX();
nowdelta = chTimeDiffX(ch.vtlist.lasttime, now);
/* The list scan is limited by the timers header having
"ch.vtlist.vt_delta == (sysinterval_t)-1" which is
greater than all deltas.*/
if (nowdelta < vtp->delta) {
break;
}
/* Consuming all timers between "vtp->lasttime" and now.*/
do {
vtfunc_t fn;
/* The "last time" becomes this timer's expiration time.*/
ch.vtlist.lasttime += vtp->delta;
nowdelta -= vtp->delta;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
fn = vtp->func;
vtp->func = NULL;
/* If the list becomes empty then the timer is stopped.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
port_timer_stop_alarm();
}
/* The callback is invoked outside the kernel critical zone.*/
chSysUnlockFromISR();
fn(vtp->par);
chSysLockFromISR();
/* Next element in the list.*/
vtp = ch.vtlist.next;
}
while (vtp->delta <= nowdelta);
}
/* If the list is empty, nothing else to do.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
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.*/
delta = vtp->delta - chTimeDiffX(ch.vtlist.lasttime, now);
if (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.*/
else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(now, delta));
chDbgAssert(chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX()) <=
chTimeDiffX(ch.vtlist.lasttime, chTimeAddX(now, delta)),
"exceeding delta");
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
/** @} */

2
readme.txt
View File

@ -93,6 +93,8 @@
MEMS Accelerometers.
- NEW: Safer messages mechanism for sandboxes (to be backported to 20.3.1).
- NEW: Added latency measurement test application.
- FIX: Fixed Virtual Timers corner case (bug #1104)
(backported to 20.3.2)(backported to 19.1.5).
- FIX: Fixed GCC6 problem breaks Cortex-M0 port (bug #985)
(backported to 20.3.2)(backported to 19.1.5).
- FIX: Fixed a wrong management of the SPI TX buffer in the ADUCM port