git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6021 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/ARMCM4-STM32F303-DISCOVERY/chconf.h

@@ -41,7 +41,7 @@
  *          setting also defines the system tick time unit.
  */
 #if !defined(CH_CFG_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_CFG_FREQUENCY                    1000
+#define CH_CFG_FREQUENCY                    10000
 #endif
 
 /**
@@ -53,7 +53,7 @@
  *          this value.
  */
 #if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
-#define CH_CFG_TIMEDELTA                    0
+#define CH_CFG_TIMEDELTA                    2
 #endif
 
 /**

os/kernel/include/chvt.h

@@ -66,8 +66,17 @@ typedef struct {
                                                 list.                       */
   virtual_timer_t       *vt_prev;   /**< @brief Last timer in the delta
                                                 list.                       */
-  systime_t             vt_time;    /**< @brief Must be initialized to -1.  */
+  systime_t             vt_delta;   /**< @brief Must be initialized to -1.  */
+#if CH_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)
   volatile systime_t    vt_systime; /**< @brief System Time counter.        */
+#endif
+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)
+  /**
+   * @brief   System time of the last tick event.
+   */
+  systime_t             vt_lasttime;/**< @brief System time of the last
+                                                tick event.                 */
+#endif
 } virtual_timers_list_t;
 
 /**
@@ -78,7 +87,7 @@ typedef struct {
 struct virtual_timer {
   virtual_timer_t       *vt_next;   /**< @brief Next timer in the list.     */
   virtual_timer_t       *vt_prev;   /**< @brief Previous timer in the list. */
-  systime_t             vt_time;    /**< @brief Time delta before timeout.  */
+  systime_t             vt_delta;   /**< @brief Time delta before timeout.  */
   vtfunc_t              vt_func;    /**< @brief Timer callback function
                                                 pointer.                    */
   void                  *vt_par;    /**< @brief Timer callback function
@@ -190,7 +199,11 @@ static inline systime_t chVTGetSystemTimeI(void) {
 
   chDbgCheckClassI();
 
+#if CH_CFG_TIMEDELTA == 0
   return vtlist.vt_systime;
+#else /* CH_CFG_TIMEDELTA > 0 */
+  return port_timer_get_time();
+#endif /* CH_CFG_TIMEDELTA > 0 */
 }
 
 /**
@@ -352,12 +365,13 @@ static inline void chVTDoTickI(void) {
 
   chDbgCheckClassI();
 
+#if CH_CFG_TIMEDELTA == 0
   vtlist.vt_systime++;
   if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
     virtual_timer_t *vtp;
 
-    --vtlist.vt_next->vt_time;
-    while (!(vtp = vtlist.vt_next)->vt_time) {
+    --vtlist.vt_next->vt_delta;
+    while (!(vtp = vtlist.vt_next)->vt_delta) {
       vtfunc_t fn = vtp->vt_func;
       vtp->vt_func = (vtfunc_t)NULL;
       vtp->vt_next->vt_prev = (void *)&vtlist;
@@ -367,6 +381,22 @@ static inline void chVTDoTickI(void) {
       chSysLockFromIsr();
     }
   }
+#else /* CH_CFG_TIMEDELTA > 0 */
+  if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
+    virtual_timer_t *vtp;
+
+    --vtlist.vt_next->vt_delta;
+    while (!(vtp = vtlist.vt_next)->vt_delta) {
+      vtfunc_t fn = vtp->vt_func;
+      vtp->vt_func = (vtfunc_t)NULL;
+      vtp->vt_next->vt_prev = (void *)&vtlist;
+      vtlist.vt_next = vtp->vt_next;
+      chSysUnlockFromIsr();
+      fn(vtp->vt_par);
+      chSysLockFromIsr();
+    }
+  }
+#endif /* CH_CFG_TIMEDELTA > 0 */
 }
 
 #endif /* _CHVT_H_ */

os/kernel/src/chvt.c

@@ -67,8 +67,12 @@ virtual_timers_list_t vtlist;
 void _vt_init(void) {
 
   vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
-  vtlist.vt_time = (systime_t)-1;
+  vtlist.vt_delta = (systime_t)-1;
+#if CH_CFG_TIMEDELTA == 0
   vtlist.vt_systime = 0;
+#else /* CH_CFG_TIMEDELTA > 0 */
+  vtlist.vt_lasttime = 0;
+#endif /* CH_CFG_TIMEDELTA > 0 */
 }
 
 /**
@@ -125,16 +129,42 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   vtp->vt_par = par;
   vtp->vt_func = vtfunc;
   p = vtlist.vt_next;
-  while (p->vt_time < delay) {
-    delay -= p->vt_time;
-    p = p->vt_next;
-  }
 
+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)
+  {
+    systime_t now = port_timer_get_time();
+
+    /* If the requested delay is lower than the minimum safe delta then it
+       is raised to the minimum safe value.*/
+    if (delay < CH_CFG_TIMEDELTA)
+      delay = CH_CFG_TIMEDELTA;
+
+    /* Now the delay is calculated as delta from the last tick interrupt
+       time.*/
+    delay += now - vtlist.vt_lasttime;
+
+    if (&vtlist != (virtual_timers_list_t *)p)
+      port_timer_start_alarm(vtlist.vt_lasttime + delay);
+    else if (delay < p->vt_delta)
+      port_timer_set_alarm(vtlist.vt_lasttime + delay);
+  }
+#endif /* CH_CFG_TIMEDELTA > 0 */
+
+  /* The delta list is scanned in order to find the correct position for
+     this timer. */
+  while (p->vt_delta < delay) {
+    delay -= p->vt_delta;
+    p = p->vt_next;
+  }
+
  /* The timer is inserted in the delta list.*/
   vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
   vtp->vt_prev->vt_next = p->vt_prev = vtp;
-  vtp->vt_time = delay;
-  if (p != (void *)&vtlist)
-    p->vt_time -= delay;
+  vtp->vt_delta = delay
+
+  /* Special case when the timer is in last position in the list, the
+     value in the header must be restored.*/;
+  p->vt_delta -= delay;
+  vtlist.vt_delta = (systime_t)-1;
 }
 
 /**
@@ -153,11 +183,28 @@ void chVTDoResetI(virtual_timer_t *vtp) {
               "chVTDoResetI(), #1",
               "timer not set or already triggered");
 
-  if (vtp->vt_next != (void *)&vtlist)
-    vtp->vt_next->vt_time += vtp->vt_time;
+  /* Removing the element from the delta list.*/
+  vtp->vt_next->vt_delta += vtp->vt_delta;
   vtp->vt_prev->vt_next = vtp->vt_next;
   vtp->vt_next->vt_prev = vtp->vt_prev;
   vtp->vt_func = (vtfunc_t)NULL;
+
+  /* The above code changes the value in the header when the removed element
+     is the last of the list, restoring it.*/
+  vtlist.vt_delta = (systime_t)-1;
+
+#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)
+  {
+    if (&vtlist == (virtual_timers_list_t *)vtlist.vt_next) {
+      /* Just removed the last element in the list, alarm timer stopped.*/
+      port_timer_stop_alarm();
+    }
+    else {
+      /* The alarm is set to the next element in the delta list.*/
+      port_timer_set_alarm(vtlist.vt_lasttime + vtlist.vt_next->vt_delta);
+    }
+  }
+#endif /* CH_CFG_TIMEDELTA > 0 */
 }
 
 /** @} */

os/ports/GCC/ARMCMx/STM32F3xx/port.mk

@@ -1,6 +1,7 @@
 # List of the ChibiOS/RT Cortex-M4 STM32 port files.
 PORTSRC = $(CHIBIOS)/os/ports/GCC/ARMCMx/crt0.c \
           $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/vectors.c \
+          $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.c \
           ${CHIBIOS}/os/ports/GCC/ARMCMx/chcore.c \
           ${CHIBIOS}/os/ports/GCC/ARMCMx/chcore_v7m.c \
           ${CHIBIOS}/os/ports/common/ARMCMx/nvic.c

os/ports/GCC/ARMCMx/chcore_v7m.c

@@ -32,6 +32,7 @@
 /* Port interrupt handlers.                                                  */
 /*===========================================================================*/
 
+#if CH_CFG_TIMEDELTA == 0
 /**
  * @brief   System Timer vector.
  * @details This interrupt is used as system tick.
@@ -47,6 +48,7 @@ CH_IRQ_HANDLER(SysTickVector) {
 
   CH_IRQ_EPILOGUE();
 }
+#endif /* CH_CFG_TIMEDELTA == 0 */
 
 #if !CORTEX_SIMPLIFIED_PRIORITY || defined(__DOXYGEN__)
 /**
@@ -119,8 +121,10 @@ void _port_init(void) {
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL));
   nvicSetSystemHandlerPriority(HANDLER_PENDSV,
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_PENDSV));
+#if CH_CFG_TIMEDELTA == 0
   nvicSetSystemHandlerPriority(HANDLER_SYSTICK,
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));
+#endif
 }
 
 #if !CH_CFG_OPTIMIZE_SPEED

os/ports/GCC/ARMCMx/chcore_v7m.h

@@ -518,6 +518,10 @@ extern "C" {
 }
 #endif
 
+#if CH_CFG_TIMEDELTA > 0
+#include "chtimer.h"
+#endif
+
 #endif /* _FROM_ASM_ */
 
 #endif /* _CHCORE_V7M_H_ */