From c7da76627c4c5479ed91bd6709e17abc22691b84 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Mon, 1 Dec 2014 10:29:36 +0000
Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7551
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/rt/include/chvt.h | 24 +++++++++++++++++++-----
 os/rt/src/chvt.c     | 11 ++++++++---
 test/rt/testsem.c    |  6 +++---
 test/rt/testthd.c    | 16 ++++++++++++----
 4 files changed, 42 insertions(+), 15 deletions(-)

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 9538474c9..1d7c8c545 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -464,11 +464,21 @@ static inline void chVTDoTickI(void) {
   }
 #else /* CH_CFG_ST_TIMEDELTA > 0 */
   virtual_timer_t *vtp;
-  systime_t now = chVTGetSystemTimeX();
-  systime_t delta = now - ch.vtlist.vt_lasttime;
+  systime_t now;
 
-  while ((vtp = ch.vtlist.vt_next)->vt_delta <= delta) {
+  while (true) {
     vtfunc_t fn;
+    systime_t delta;
+
+    /* Getting the current system time and calculating the time window since
+       the last time has expired.*/
+    now = chVTGetSystemTimeX();
+    delta = now - ch.vtlist.vt_lasttime;
+
+    /* The next element is outside the current time window, the loop
+       is stopped here.*/
+    if ((vtp = ch.vtlist.vt_next)->vt_delta > delta)
+      break;
 
     /* The "last time" becomes this timer's expiration time.*/
     delta -= vtp->vt_delta;
@@ -491,8 +501,12 @@ static inline void chVTDoTickI(void) {
     port_timer_stop_alarm();
   }
   else {
-    /* Updating the alarm to the next deadline.*/
-    port_timer_set_alarm(now + vtp->vt_delta);
+    /* Updating the alarm to the next deadline, deadline that must not be
+       closer in time than the minimum time delta.*/
+    if (vtp->vt_delta >= CH_CFG_ST_TIMEDELTA)
+      port_timer_set_alarm(now + vtp->vt_delta);
+    else
+      port_timer_set_alarm(now + CH_CFG_ST_TIMEDELTA);
   }
 #endif /* CH_CFG_ST_TIMEDELTA > 0 */
 }
diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index 4fd154e57..de33e7b9c 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -180,9 +180,14 @@ void chVTDoResetI(virtual_timer_t *vtp) {
       port_timer_stop_alarm();
     }
     else {
-      /* The alarm is set to the next element in the delta list.*/
-      port_timer_set_alarm(ch.vtlist.vt_lasttime +
-                           ch.vtlist.vt_next->vt_delta);
+      /* Updating the alarm to the next deadline, deadline that must not be
+         closer in time than the minimum time delta.*/
+      if (ch.vtlist.vt_next->vt_delta >= CH_CFG_ST_TIMEDELTA)
+        port_timer_set_alarm(ch.vtlist.vt_lasttime +
+                             ch.vtlist.vt_next->vt_delta);
+      else
+        port_timer_set_alarm(ch.vtlist.vt_lasttime +
+                             CH_CFG_ST_TIMEDELTA);
     }
   }
 #endif /* CH_CFG_ST_TIMEDELTA > 0 */
diff --git a/test/rt/testsem.c b/test/rt/testsem.c
index cb7f13bc2..87e9b187f 100644
--- a/test/rt/testsem.c
+++ b/test/rt/testsem.c
@@ -49,7 +49,7 @@
 
 #if CH_CFG_USE_SEMAPHORES || defined(__DOXYGEN__)
 
-#define ALLOWED_DELAY MS2ST(5)
+#define ALLOWED_DELAY MS2ST(2)
 
 /*
  * Note, the static initializers are not really required because the
@@ -170,10 +170,10 @@ static void sem2_execute(void) {
    * Testing timeout condition.
    */
   test_wait_tick();
-  target_time = chVTGetSystemTime() + MS2ST(5 * 500);
+  target_time = chVTGetSystemTime() + MS2ST(5 * 50);
   for (i = 0; i < 5; i++) {
     test_emit_token('A' + i);
-    msg = chSemWaitTimeout(&sem1, MS2ST(500));
+    msg = chSemWaitTimeout(&sem1, MS2ST(50));
     test_assert(7, msg == MSG_TIMEOUT, "wrong wake-up message");
     test_assert(8, queue_isempty(&sem1.s_queue), "queue not empty");
     test_assert(9, sem1.s_cnt == 0, "counter not zero");
diff --git a/test/rt/testthd.c b/test/rt/testthd.c
index 522e54b9b..d4d148169 100644
--- a/test/rt/testthd.c
+++ b/test/rt/testthd.c
@@ -194,22 +194,30 @@ static void thd4_execute(void) {
   /* Timeouts in microseconds.*/
   time = chVTGetSystemTime();
   chThdSleepMicroseconds(100000);
-  test_assert_time_window(1, time + US2ST(100000), time + US2ST(100000) + 1);
+  test_assert_time_window(1,
+                          time + US2ST(100000),
+                          time + US2ST(100000) + CH_CFG_ST_TIMEDELTA);
 
   /* Timeouts in milliseconds.*/
   time = chVTGetSystemTime();
   chThdSleepMilliseconds(100);
-  test_assert_time_window(2, time + MS2ST(100), time + MS2ST(100) + 1);
+  test_assert_time_window(2,
+                          time + MS2ST(100),
+                          time + MS2ST(100) + CH_CFG_ST_TIMEDELTA);
 
   /* Timeouts in seconds.*/
   time = chVTGetSystemTime();
   chThdSleepSeconds(1);
-  test_assert_time_window(3, time + S2ST(1), time + S2ST(1) + 1);
+  test_assert_time_window(3,
+                          time + S2ST(1),
+                          time + S2ST(1) + CH_CFG_ST_TIMEDELTA);
 
   /* Absolute timelines.*/
   time = chVTGetSystemTime() + MS2ST(100);
   chThdSleepUntil(time);
-  test_assert_time_window(4, time, time + 1);
+  test_assert_time_window(4,
+                          time,
+                          time + CH_CFG_ST_TIMEDELTA);
 }
 
 ROMCONST struct testcase testthd4 = {