git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7833 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/STM32/RT-STM32F407-DISCOVERY/Makefile

@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).

demos/STM32/RT-STM32F407-DISCOVERY/chconf.h

@@ -46,7 +46,7 @@
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#define CH_CFG_ST_FREQUENCY                 10000
+#define CH_CFG_ST_FREQUENCY                 100000
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -333,7 +333,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -342,7 +342,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -352,7 +352,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.

demos/STM32/RT-STM32F407-DISCOVERY/main.c

@@ -35,6 +35,31 @@ static THD_FUNCTION(Thread1, arg) {
   }
 }
 
+virtual_timer_t vt1, vt2, vt3;
+
+static void cb1(void *p) {
+
+  (void)p;
+  chSysLockFromISR();
+//  if (chVTIsArmedI(&vt1))
+//    chVTDoResetI(&vt1);
+  chSysUnlockFromISR();
+}
+
+static void cb2(void *p) {
+
+  (void)p;
+  chSysLockFromISR();
+//  if (!chVTIsArmedI(&vt3))
+//    chVTDoSetI(&vt3, 19, cb1, NULL);
+  chSysUnlockFromISR();
+}
+
+static void cb3(void *p) {
+
+  (void)p;
+}
+
 /*
  * Application entry point.
  */
@@ -70,6 +95,12 @@ int main(void) {
   while (TRUE) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD2);
-    chThdSleepMilliseconds(500);
+    chVTSet(&vt1, 7, cb1, NULL);
+    chThdSleep(5);
+    chSysLock();
+    if (!chVTIsArmedI(&vt2))
+      chVTDoSetI(&vt2, 13, cb2, NULL);
+    chSysUnlock();
+//    chVTReset(&vt1);
   }
 }

os/hal/ports/STM32/LLD/TIMv1/st_lld.h

@@ -164,6 +164,7 @@ static inline void st_lld_stop_alarm(void) {
 static inline void st_lld_set_alarm(systime_t time) {
 
   STM32_ST_TIM->CCR[0] = (uint32_t)time;
+  STM32_ST_TIM->SR     = 0;
 }
 
 /**

os/rt/include/chvt.h

@@ -466,7 +466,6 @@ static inline void chVTDoTickI(void) {
   }
 #else /* CH_CFG_ST_TIMEDELTA > 0 */
   virtual_timer_t *vtp;
-  systime_t now, delta;
 
   /* The list is assumed to be non-empty because an tick interrupt just
      occurred.*/
@@ -482,6 +481,10 @@ static inline void chVTDoTickI(void) {
                                 chVTGetSystemTimeX() + 1),
               "out of time window");
 
+/*  if (now > 21) {
+     __BKPT(0);
+  }*/
+
   /* Timers processing loop.*/
   while (true) {
     vtfunc_t fn;
@@ -495,11 +498,6 @@ static inline void chVTDoTickI(void) {
     fn = vtp->vt_func;
     vtp->vt_func = NULL;
 
-    /* If the list is empty then the timer is stopped.*/
-    if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
-      port_timer_stop_alarm();
-    }
-
     /* Leaving the system critical zone in order to execute the callback
        and in order to give a preemption chance to higher priority
        interrupts.*/
@@ -513,25 +511,33 @@ static inline void chVTDoTickI(void) {
     chSysLockFromISR();
 
     /* If the list is empty then ending the loop, the list has to be
-       re-checked because new timers could have been added from within
+       re-checked because new timers could have been added/removed from
-       the callback.*/
+       within the callback or other ISRs.*/
     vtp = ch.vtlist.vt_next;
     if (&ch.vtlist == (virtual_timers_list_t *)vtp) {
+      /* Timers list empty, stopping alarms.*/
+      port_timer_stop_alarm();
       return;
     }
 
     /* 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->vt_delta > delta) {
+    if (vtp->vt_delta > now - ch.vtlist.vt_lasttime) {
       /* Updating the alarm to the next deadline, deadline that must not be
          closer in time than the minimum time delta.*/
-      delta = (vtp->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) ?
+      systime_t delta = ch.vtlist.vt_lasttime + vtp->vt_delta - now;
-               vtp->vt_delta : (systime_t)CH_CFG_ST_TIMEDELTA;
+      if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
+        delta = (systime_t)CH_CFG_ST_TIMEDELTA;
+      }
+
+//      if (now + delta >= 23) {
+//         __BKPT(0);
+//      }
+
       port_timer_set_alarm(now + delta);
 
       chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.vt_lasttime) < delta,

os/rt/src/chvt.c

@@ -99,13 +99,18 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   chDbgCheckClassI();
   chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
 
+/*  systime_t tm = chVTGetSystemTimeX();
+  if (tm >= 23) {
+     __BKPT(0);
+  }*/
+
   vtp->vt_par = par;
   vtp->vt_func = vtfunc;
   p = ch.vtlist.vt_next;
 
-#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
+#if CH_CFG_ST_TIMEDELTA > 0
   {
-    systime_t now = port_timer_get_time();
+    systime_t now = chVTGetSystemTimeX();
 
     /* If the requested delay is lower than the minimum safe delta then it
        is raised to the minimum safe value.*/
@@ -151,6 +156,11 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
      value in the header must be restored.*/;
   p->vt_delta -= delay;
   ch.vtlist.vt_delta = (systime_t)-1;
+
+/*  systime_t tmx = chVTGetSystemTimeX();
+  if (tmx >= 23) {
+     __BKPT(0);
+  }*/
 }
 
 /**
@@ -162,11 +172,24 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
  * @iclass
  */
 void chVTDoResetI(virtual_timer_t *vtp) {
+#if CH_CFG_ST_TIMEDELTA > 0
+  virtual_timer_t *first;
+#endif
 
   chDbgCheckClassI();
   chDbgCheck(vtp != NULL);
   chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");
 
+/*  systime_t tm = chVTGetSystemTimeX();
+  if (tm >= 23) {
+     __BKPT(0);
+  }*/
+
+  /* Checking if the element to be removed was the first in the list.*/
+#if CH_CFG_ST_TIMEDELTA > 0
+  first = ch.vtlist.vt_next;
+#endif
+
   /* Removing the element from the delta list.*/
   vtp->vt_next->vt_delta += vtp->vt_delta;
   vtp->vt_prev->vt_next = vtp->vt_next;
@@ -177,24 +200,53 @@ void chVTDoResetI(virtual_timer_t *vtp) {
      is the last of the list, restoring it.*/
   ch.vtlist.vt_delta = (systime_t)-1;
 
-#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
+#if CH_CFG_ST_TIMEDELTA > 0
   {
+    systime_t nowdelta, delta;
+
+    /* Just removed the last element in the list, alarm timer stopped and
+       return.*/
     if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
-      /* Just removed the last element in the list, alarm timer stopped.*/
       port_timer_stop_alarm();
+      return;
     }
-    else {
+
-      /* Updating the alarm to the next deadline, deadline that must not be
+    /* If the removed element was not the first one then just return, the
-         closer in time than the minimum time delta.*/
+       alarm is already set to the first element.*/
-      if (ch.vtlist.vt_next->vt_delta >= (systime_t)CH_CFG_ST_TIMEDELTA) {
+    if (vtp != first) {
-        port_timer_set_alarm(ch.vtlist.vt_lasttime +
+      return;
-                             ch.vtlist.vt_next->vt_delta);
-      }
-      else {
-        port_timer_set_alarm(ch.vtlist.vt_lasttime +
-                             (systime_t)CH_CFG_ST_TIMEDELTA);
-      }
     }
+
+    /* If the new first element has a delta of zero then the alarm is not
+       modified, the already programmed alarm will serve it.*/
+    if (ch.vtlist.vt_next->vt_delta == 0) {
+      return;
+    }
+
+    /* Distance in ticks between the last alarm event and current time.*/
+    nowdelta = chVTGetSystemTimeX() - ch.vtlist.vt_lasttime;
+
+    /* If the current time surpassed the time of the next element in list
+       then the event interrupt is already pending, just return.*/
+    if (nowdelta >= ch.vtlist.vt_next->vt_delta) {
+      return;
+    }
+
+    /* Distance from the next scheduled event and now.*/
+    delta = ch.vtlist.vt_next->vt_delta - nowdelta;
+
+    /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA
+       ticks from now.*/
+    if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
+      delta = (systime_t)CH_CFG_ST_TIMEDELTA;
+    }
+
+    port_timer_set_alarm(ch.vtlist.vt_lasttime + nowdelta + delta);
+
+    systime_t tmx = chVTGetSystemTimeX();
+/*    if (tmx >= 23) {
+       __BKPT(0);
+    }*/
   }
 #endif /* CH_CFG_ST_TIMEDELTA > 0 */
 }