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-/*
-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
-
-    This file is part of ChibiOS/RT.
-
-    ChibiOS/RT is free software; you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation; either version 3 of the License, or
-    (at your option) any later version.
-
-    ChibiOS/RT is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @page article_timing Reliable timings using Threads
- * One common task is to have threads do something at regular, scheduled,
- * intervals.
- * An obvious solution is to write something like this:
- * @code
-msg_t my_thread(void *param) {
-
-  while (TRUE) {
-    do_something();
-    chThdSleepMilliseconds(1000);   // Fixed interval
-  }
-}
- * @endcode
- * This example works well assuming that the @p do_something() execution time
- * is well below the system tick period and that @p my_thread() is not
- * preempted by other threads that could insert long intervals.<br>
- * If the above conditions are not satisfied you may have @p do_something()
- * executed at irregular intervals, as example:<br><br>
- * T0...T0+1000...T0+2002...T0+3002...T0+4005...etc.<br><br>
- * Also note that the error increases over time and this kind of behavior can
- * lead to anomalies really hard to debug.
- * <h2>A better solution</h2>
- * It is possible to rewrite the above code using absolute deadlines rather
- * than fixed intervals:
- * @code
-msg_t my_thread(void *param) {
-
-  systick_t time = chTimeNow();     // T0
-  while (TRUE) {
-    time += MS2ST(1000);            // Next deadline
-    do_something();
-    chThdSleepUntil(time);
-  }
-}
- * @endcode
- * Using this code @p do_something() will always be executed at an absolute
- * deadline time and the error will not accumulate over time regardless of
- * the execution time and delays inserted by other threads.<br>
- * Note that this solution requires that the @p do_something() execution
- * time must not exceed the deadline or the thread would stay sleeping into
- * @p chThdSleepUntil().
- *
- * <h2>A different way</h2>
- * Another way to perform activities at regular intervals is the use of a
- * virtual timer. Virtual timers are able to generate callbacks at scheduled
- * intervals. Virtual timers are one shot timers so you need to restart them
- * from within the callback if you need a periodic timer like in this case.
- * @code
-VirtualTimer vt;
-
-void do_something(void *p) {
-
-  chVTSetI(&vt, MS2ST(1000), do_something, p);      // Restarts the timer.
-  // Periodic code here.
-}
-
-int main(int argc, char **argv) {
-
-  chSysLock();
-  chVTSetI(&vt, MS2ST(1000), do_something, NULL);   // Starts the timer.
-  chSysUnlock();
-  ...
-}
- * @endcode
- * Note that the callback code is executed from within the I-Locked state (see
- * @ref system_states) so you can only execute I-Class APIs from there (see
- * @ref api_suffixes).<br>
- * This solution has the advantage to not require a dedicated thread and
- * thus uses much less RAM but the periodic code must have a very short
- * execution time or it would degrade the overall system response time.
- */