xiaoxiang781216 commented on code in PR #17573:
URL: https://github.com/apache/nuttx/pull/17573#discussion_r2667156142
##########
include/nuttx/arch.h:
##########
@@ -2101,8 +2102,8 @@ int up_timer_tick_cancel(FAR clock_t *ticks);
* non-reentrancy.
*
****************************************************************************/
-
-#if defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM)
+#if (defined(CONFIG_HRTIMER) && defined(CONFIG_TIMER_ARCH)) || \
Review Comment:
why change up_timer_start
##########
sched/sched/sched_processtimer.c:
##########
@@ -44,11 +44,145 @@
#include "sched/sched.h"
#include "wdog/wdog.h"
#include "clock/clock.h"
+#include "hrtimer/hrtimer.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_HRTIMER
+
+/* Scheduler-owned high-resolution timer instance.
+ *
+ * This timer acts as the time source for scheduler-related events:
+ *
+ * - Periodic scheduler ticks in non-tickless mode
+ * - Dynamic expiration points in tickless mode
+ *
+ * The timer is initialized lazily to avoid unnecessary setup when
+ * CONFIG_HRTIMER is enabled but not used immediately.
+ */
+
+static hrtimer_t g_nxsched_hrtimer;
+
+/* Indicates whether the scheduler hrtimer has been initialized.
+ *
+ * Initialization is performed on first invocation of
+ * nxsched_process_hrtimer().
+ */
+
+static bool g_sched_hrtimer_inited = false;
/****************************************************************************
* Private Functions
****************************************************************************/
+static void nxsched_process_tick(void);
+
+/****************************************************************************
+ * Name: nxsched_hrtimer_callback
+ *
+ * Description:
+ * Callback invoked by the high-resolution timer framework when the
+ * scheduler timer expires.
+ *
+ * Behavior depends on scheduler configuration:
+ *
+ * CONFIG_SCHED_TICKLESS:
+ * - Query current high-resolution time
+ * - Convert time to scheduler ticks
+ * - Notify scheduler via nxsched_tick_expiration()
+ *
+ * !CONFIG_SCHED_TICKLESS:
+ * - Re-arm the next periodic tick
+ * - Process a single scheduler tick
+ *
+ * Input Parameters:
+ * hrtimer - Pointer to the expired high-resolution timer
+ *
+ * Returned Value:
+ * In non-tickless mode, returns the interval until the next expiration.
+ * In tickless mode, the return value is ignored.
+ *
+ ****************************************************************************/
+
+static uint64_t
+nxsched_hrtimer_callback(FAR hrtimer_t *hrtimer, uint64_t expired)
+{
+ UNUSED(hrtimer);
+ UNUSED(expired);
+
+#ifdef CONFIG_SCHED_TICKLESS
+ uint64_t now = hrtimer_gettime();
+
+ /* Notify scheduler of the current time (converted to ticks) */
+
+ nxsched_tick_expiration(NSEC2TICK(now));
Review Comment:
why not use expired directly
##########
include/nuttx/arch.h:
##########
Review Comment:
move to private header file
##########
sched/sched/sched_processtimer.c:
##########
@@ -44,11 +44,145 @@
#include "sched/sched.h"
#include "wdog/wdog.h"
#include "clock/clock.h"
+#include "hrtimer/hrtimer.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_HRTIMER
+
+/* Scheduler-owned high-resolution timer instance.
+ *
+ * This timer acts as the time source for scheduler-related events:
+ *
+ * - Periodic scheduler ticks in non-tickless mode
+ * - Dynamic expiration points in tickless mode
+ *
+ * The timer is initialized lazily to avoid unnecessary setup when
+ * CONFIG_HRTIMER is enabled but not used immediately.
+ */
+
+static hrtimer_t g_nxsched_hrtimer;
+
+/* Indicates whether the scheduler hrtimer has been initialized.
+ *
+ * Initialization is performed on first invocation of
+ * nxsched_process_hrtimer().
+ */
+
+static bool g_sched_hrtimer_inited = false;
/****************************************************************************
* Private Functions
****************************************************************************/
+static void nxsched_process_tick(void);
+
+/****************************************************************************
+ * Name: nxsched_hrtimer_callback
+ *
+ * Description:
+ * Callback invoked by the high-resolution timer framework when the
+ * scheduler timer expires.
+ *
+ * Behavior depends on scheduler configuration:
+ *
+ * CONFIG_SCHED_TICKLESS:
+ * - Query current high-resolution time
+ * - Convert time to scheduler ticks
+ * - Notify scheduler via nxsched_tick_expiration()
+ *
+ * !CONFIG_SCHED_TICKLESS:
+ * - Re-arm the next periodic tick
+ * - Process a single scheduler tick
+ *
+ * Input Parameters:
+ * hrtimer - Pointer to the expired high-resolution timer
+ *
+ * Returned Value:
+ * In non-tickless mode, returns the interval until the next expiration.
+ * In tickless mode, the return value is ignored.
+ *
+ ****************************************************************************/
+
+static uint64_t
+nxsched_hrtimer_callback(FAR hrtimer_t *hrtimer, uint64_t expired)
+{
+ UNUSED(hrtimer);
+ UNUSED(expired);
+
+#ifdef CONFIG_SCHED_TICKLESS
+ uint64_t now = hrtimer_gettime();
+
+ /* Notify scheduler of the current time (converted to ticks) */
+
+ nxsched_tick_expiration(NSEC2TICK(now));
+
Review Comment:
not return value
##########
include/nuttx/arch.h:
##########
@@ -2031,7 +2031,8 @@ int up_alarm_tick_cancel(FAR clock_t *ticks);
*
****************************************************************************/
-#if defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM)
+#if (defined(CONFIG_HRTIMER) && defined(CONFIG_ALARM_ARCH)) || \
Review Comment:
remove CONFIG_ALARM_ARCH
##########
include/nuttx/arch.h:
##########
Review Comment:
do you need change this line
##########
sched/sched/sched_processtimer.c:
##########
@@ -44,11 +44,145 @@
#include "sched/sched.h"
#include "wdog/wdog.h"
#include "clock/clock.h"
+#include "hrtimer/hrtimer.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_HRTIMER
+
+/* Scheduler-owned high-resolution timer instance.
+ *
+ * This timer acts as the time source for scheduler-related events:
+ *
+ * - Periodic scheduler ticks in non-tickless mode
+ * - Dynamic expiration points in tickless mode
+ *
+ * The timer is initialized lazily to avoid unnecessary setup when
+ * CONFIG_HRTIMER is enabled but not used immediately.
+ */
+
+static hrtimer_t g_nxsched_hrtimer;
Review Comment:
let's init to func directly and remove g_sched_hrtimer_inited
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