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The following commit(s) were added to refs/heads/master by this push:
new 02bfd290ac7 sched/sleep: add support for scheduling sleep
02bfd290ac7 is described below
commit 02bfd290ac79dca3483310cbf189502d87108f11
Author: chao an <[email protected]>
AuthorDate: Wed Oct 15 19:27:47 2025 +0800
sched/sleep: add support for scheduling sleep
Nuttx currently has 2 types of sleep interfaces:
1. Signal-scheduled sleep: nxsig_sleep() / nxsig_usleep() /
nxsig_nanosleep()
Weaknesses:
a. Signal-dependent: The signal-scheduled sleep method is bound to the
signal framework, while some driver sleep operations do not depend on signals.
b. Timespec conversion: Signal-scheduled sleep involves timespec
conversion, which has a significant impact on performance.
2. Busy sleep: up_mdelay() / up_udelay()
Weaknesses:
a. Does not actively trigger scheduling, occupy the CPU loading.
3. New interfaces: Scheduled sleep: nxsched_sleep() / nxsched_usleep() /
nxsched_msleep() / nxsched_ticksleep()
Strengths:
a. Does not depend on the signal framework.
b. Tick-based, without additional computational overhead.
Currently, the Nuttx driver framework extensively uses nxsig_* interfaces.
However, the driver does not need to rely on signals or timespec conversion.
Therefore, a new set of APIs is added to reduce dependencies on other
modules.
(This PR also aims to make signals optional, further reducing the code size
of Nuttx.)
Signed-off-by: chao an <[email protected]>
---
include/nuttx/sched.h | 76 ++++++++++++++++
sched/sched/CMakeLists.txt | 3 +-
sched/sched/Make.defs | 2 +-
sched/sched/sched_sleep.c | 213 +++++++++++++++++++++++++++++++++++++++++++++
4 files changed, 292 insertions(+), 2 deletions(-)
diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 7bf37127e4f..977e294730f 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -1714,6 +1714,82 @@ int nxsched_smp_call_async(cpu_set_t cpuset,
FAR struct smp_call_data_s *data);
#endif
+/****************************************************************************
+ * Name: nxsched_ticksleep
+ *
+ * Description:
+ * The nxsched_ticksleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of system ticks.
+ *
+ * It can only be resumed through scheduler operations.
+ *
+ * Input Parameters:
+ * ticks - The number of system ticks to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_ticksleep(unsigned int ticks);
+
+/****************************************************************************
+ * Name: nxsched_usleep
+ *
+ * Description:
+ * The nxsched_usleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of microseconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * usec - The number of microseconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_usleep(useconds_t usec);
+
+/****************************************************************************
+ * Name: nxsched_msleep
+ *
+ * Description:
+ * The nxsched_msleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of milliseconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * msec - The number of milliseconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_msleep(unsigned int msec);
+
+/****************************************************************************
+ * Name: nxsched_sleep
+ *
+ * Description:
+ * The nxsched_sleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of seconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * sec - The number of seconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_sleep(unsigned int sec);
+
#undef EXTERN
#if defined(__cplusplus)
}
diff --git a/sched/sched/CMakeLists.txt b/sched/sched/CMakeLists.txt
index 1edfe87fc61..782234f846d 100644
--- a/sched/sched/CMakeLists.txt
+++ b/sched/sched/CMakeLists.txt
@@ -47,7 +47,8 @@ set(SRCS
sched_get_tls.c
sched_sysinfo.c
sched_get_stateinfo.c
- sched_switchcontext.c)
+ sched_switchcontext.c
+ sched_sleep.c)
if(DEFINED CONFIG_STACKCHECK_MARGIN)
if(NOT CONFIG_STACKCHECK_MARGIN EQUAL -1)
diff --git a/sched/sched/Make.defs b/sched/sched/Make.defs
index 7cc19db557b..71a7bc2ce6b 100644
--- a/sched/sched/Make.defs
+++ b/sched/sched/Make.defs
@@ -30,7 +30,7 @@ CSRCS += sched_yield.c sched_rrgetinterval.c sched_foreach.c
CSRCS += sched_lock.c sched_unlock.c sched_lockcount.c
CSRCS += sched_idletask.c sched_self.c sched_get_stackinfo.c sched_get_tls.c
CSRCS += sched_sysinfo.c sched_get_stateinfo.c sched_getcpu.c
-CSRCS += sched_switchcontext.c
+CSRCS += sched_switchcontext.c sched_sleep.c
ifneq ($(CONFIG_STACKCHECK_MARGIN),)
ifneq ($(CONFIG_STACKCHECK_MARGIN),-1)
diff --git a/sched/sched/sched_sleep.c b/sched/sched/sched_sleep.c
new file mode 100644
index 00000000000..6c01f15483d
--- /dev/null
+++ b/sched/sched/sched_sleep.c
@@ -0,0 +1,213 @@
+/****************************************************************************
+ * sched/sched/sched_sleep.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/clock.h>
+
+#include "sched/sched.h"
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxsched_timeout
+ *
+ * Description:
+ * A timeout elapsed while waiting for timeout.
+ *
+ * Assumptions:
+ * This function executes in the context of the timer interrupt handler.
+ * Local interrupts are assumed to be disabled on entry.
+ *
+ * Input Parameters:
+ * arg - Parameter to pass to wdentry.
+ *
+ ****************************************************************************/
+
+static void nxsched_timeout(wdparm_t arg)
+{
+ FAR struct tcb_s *wtcb;
+ irqstate_t flags;
+
+ /* Get waiting tcb from parameter */
+
+ wtcb = (FAR struct tcb_s *)(uintptr_t)arg;
+
+ /* We must be in a critical section in order to call up_switch_context()
+ * below.
+ */
+
+ flags = enter_critical_section();
+
+ /* There may be a race condition -- make sure the task is
+ * still waiting for a signal
+ */
+
+ if (wtcb->task_state == TSTATE_WAIT_SIG)
+ {
+ FAR struct tcb_s *rtcb = this_task();
+
+ /* Remove the task from waiting list */
+
+ dq_rem((FAR dq_entry_t *)wtcb, list_waitingforsignal());
+
+ /* Add the task to ready-to-run task list, and
+ * perform the context switch if one is needed
+ */
+
+ if (nxsched_add_readytorun(wtcb))
+ {
+ up_switch_context(this_task(), rtcb);
+ }
+ }
+
+ leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Name: nxsched_ticksleep
+ *
+ * Description:
+ * The nxsched_ticksleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of system ticks.
+ *
+ * It can only be resumed through scheduler operations.
+ *
+ * Input Parameters:
+ * ticks - The number of system ticks to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_ticksleep(unsigned int ticks)
+{
+ FAR struct tcb_s *rtcb;
+ irqstate_t flags;
+
+ if (ticks == 0)
+ {
+ sched_yield();
+ return;
+ }
+
+ flags = enter_critical_section();
+
+ rtcb = this_task();
+
+ wd_start(&rtcb->waitdog, ticks, nxsched_timeout, (uintptr_t)rtcb);
+
+ /* Remove the tcb task from the ready-to-run list. */
+
+ nxsched_remove_self(rtcb);
+
+ /* Add the task to the specified blocked task list */
+
+ rtcb->task_state = TSTATE_WAIT_SIG;
+ dq_addlast((FAR dq_entry_t *)rtcb, &g_waitingforsignal);
+
+ /* Now, perform the context switch if one is needed */
+
+ up_switch_context(this_task(), rtcb);
+
+ wd_cancel(&rtcb->waitdog);
+
+ leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxsched_usleep
+ *
+ * Description:
+ * The nxsched_usleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of microseconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * usec - The number of microseconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_usleep(useconds_t usec)
+{
+ nxsched_ticksleep(USEC2TICK(usec));
+}
+
+/****************************************************************************
+ * Name: nxsched_msleep
+ *
+ * Description:
+ * The nxsched_msleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of milliseconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * msec - The number of milliseconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_msleep(unsigned int msec)
+{
+ nxsched_ticksleep(MSEC2TICK(msec));
+}
+
+/****************************************************************************
+ * Name: nxsched_sleep
+ *
+ * Description:
+ * The nxsched_sleep() function will cause the calling thread to be
+ * suspended from execution for the specified number of seconds.
+ *
+ * It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ * sec - The number of seconds to sleep.
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void nxsched_sleep(unsigned int sec)
+{
+ nxsched_ticksleep(SEC2TICK(sec));
+}
