wangchdo opened a new pull request, #17570:
URL: https://github.com/apache/nuttx/pull/17570
## Summary
@Fix-Point tested the latest merged hrtimer implementation and found an
issue where a running hrtimer is not allowed to be restarted.
This patch fixes that issue.
## Impact
This patch fixes an issue in the standalone hrtimer module implementation,
without affecting any other NuttX functions.
## Testing
**test code:**
```
#include <nuttx/config.h>
#include <stdio.h>
#include <nuttx/hrtimer.h>
#define HRTIMER_TEST_THREAD_NR (CONFIG_SMP_NCPUS * 8)
/****************************************************************************
* Public Functions
****************************************************************************/
static uint32_t test_callback(FAR struct hrtimer_s *hrtimer)
{
printf("test_callback called!\n");
return 0;
}
static void* test_thread(void *arg)
{
irqstate_t flags;
hrtimer_t timer;
spinlock_t lock = SP_UNLOCKED;
hrtimer_init(&timer, test_callback, NULL);
while (1)
{
uint64_t delay = rand() % NSEC_PER_MSEC;
int ret;
/* Simulate the usage of driver->wait_dog. */
flags = spin_lock_irqsave(&lock);
/* The driver lock acquired */
/* First try, failed. Because hrtimer_start can not ensure the timer
being started. */
ret = hrtimer_cancel(&timer);
// ret = hrtimer_start(&timer, 10 * NSEC_PER_USEC, HRTIMER_MODE_REL);
/* May fail */
/* This try-loop start should be OK. But it failed again.
* Besides, we can not sleep or spin in the critical sections.
*/
while (hrtimer_start(&timer, 10 * NSEC_PER_USEC, HRTIMER_MODE_REL) !=
OK);
ret = OK;
/* Second try, Success, but we can not sleep or spin in the critical
section. */
// ret = hrtimer_cancel_sync(&timer); /* Sleep in critical sections */
// ret = hrtimer_start(&timer, delay, HRTIMER_MODE_REL);
spin_unlock_irqrestore(&lock, flags);
if (ret != OK)
{
printf("hrtimer_start failed\n");
}
up_ndelay(delay);
}
return NULL;
}
/****************************************************************************
* hello_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
unsigned int thread_id;
pthread_attr_t attr;
pthread_t pthreads[HRTIMER_TEST_THREAD_NR];
printf("hrtimer_test start...\n");
ASSERT(pthread_attr_init(&attr) == 0);
/* Create wdog test thread */
for (thread_id = 0; thread_id < HRTIMER_TEST_THREAD_NR; thread_id++)
{
ASSERT(pthread_create(&pthreads[thread_id], &attr,
test_thread, NULL) == 0);
}
for (thread_id = 0; thread_id < HRTIMER_TEST_THREAD_NR; thread_id++)
{
pthread_join(pthreads[thread_id], NULL);
}
ASSERT(pthread_attr_destroy(&attr) == 0);
printf("hrtimer_test end...\n");
return 0;
}
```
**test log on rv-virt:smp64,**
NuttShell (NSH)
nsh>
nsh> uname -a
NuttX 0.0.0 15e0a835ab-dirty Dec 19 2025 16:57:08 risc-v rv-virt
nsh>
nsh> hello
test callback ...
test callback ...
test callback ...
test callback ...
test callback ...
test callback ...
test callback ...
test callback ...
(....)
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