wangchdo opened a new pull request, #17295:
URL: https://github.com/apache/nuttx/pull/17295
## Summary
The implementation of wd_start() internally increases the delay
by one tick. When using watchdogs to create periodic events,
users may choose to restart the watchdog upon expiration. In this
case, wd_start() is typically called from within the watchdog
timeout callback. The internal +1 adjustment causes each period
to drift by one tick over time.
In addition, when reloading a watchdog, users usually do not need
to specify the callback function or its argument again.
This patch introduces a new API, wd_reload(), which only requires
the user to specify a new timeout delay. And it can be used inside the
watchdog timeout callback to achieve precise periodic timeouts
without cumulative tick deviation.
## Impact
new API added for wdog, no impact to existing nuttx functions
## Testing
**ostest passed on board fvp-armv8r-aarch32**
```
NuttShell (NSH)
nsh>
nsh> name -a
NuttX 0.0.0 1a1f175d36-dirty Nov 8 2025 13:40:28 arm fvp-armv8r-aarch32
nsh>
nsh> ostest
(...)
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 7ff9d2c 7ff9d2c
ordblks 7 5
mxordblk 7fe1f00 7febf28
uordblks d6f4 b60c
fordblks 7fec638 7fee720
user_main: vfork() test
[ 4] ostest: arm_fork: fork context [0x2000f6a0]:
[ 4] ostest: arm_fork: r4:20003870 r5:00000000 r6:00000000 r7:00000000
[ 4] ostest: arm_fork: r8:00000000 r9:00000000 r10:00000000
[ 4] ostest: arm_fork: r11:00000000 sp:2000f6c8 lr:00055ce4
[ 4] ostest: nxtask_setup_fork: Child priority=100 start=0x55ce4
[ 4] ostest: nxtask_setup_fork: parent=0x2000d340, returning child=0x2000f778
[ 4] ostest: arm_fork: TCBs: Parent=0x2000d340 Child=0x2000f778
[ 4] ostest: arm_fork: Parent: stackutil:152
[ 4] ostest: arm_fork: Old stack top:2000f760 SP:2000f6c8 FP:00000000
[ 4] ostest: arm_fork: New stack top:20013a60 SP:200139c8 FP:00000000
[ 4] ostest: nxtask_start_fork: Starting Child TCB=0x2000f778
[ 4] ostest: nxtask_activate: ostest pid=85,TCB=0x2000f778
[85] ostest: nxtask_exit: ostest pid=85,TCB=0x2000f778
vfork_test: Child 85 ran successfully
Final memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 7ff9d2c 7ff9d2c
ordblks 1 5
mxordblk 7ff0898 7febf28
uordblks 9494 b52c
fordblks 7ff0898 7fee800
user_main: Exiting
[ 4] ostest: nxtask_exit: ostest pid=4,TCB=0x2000d340
ostest_main: Exiting with status 0
stdio_test: Standard I/O Check: fprintf to stderr
[ 3] ostest: nxtask_exit: ostest pid=3,TCB=0x2000af20
nsh>
```
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