wangchdo commented on code in PR #17573:
URL: https://github.com/apache/nuttx/pull/17573#discussion_r2647358464
##########
sched/hrtimer/hrtimer_process.c:
##########
@@ -100,27 +99,81 @@ void hrtimer_process(uint64_t now)
hrtimer->state = HRTIMER_STATE_RUNNING;
+#ifdef CONFIG_SMP
+ hrtimer->cpus++;
+
+ /* cpus is a running reference counter and must never wrap */
+
+ DEBUGASSERT(hrtimer->cpus != 0);
+#endif
+
+ /* Leave critical section before invoking the callback */
+
spin_unlock_irqrestore(&g_hrtimer_spinlock, flags);
- /* Invoke the timer callback */
+ /* Execute the timer callback */
period = hrtimer->func(hrtimer);
+ /* Re-enter critical section to update timer state */
+
flags = spin_lock_irqsave(&g_hrtimer_spinlock);
- if ((hrtimer->state == HRTIMER_STATE_CANCELED) || (period == 0))
- {
- /* Timer is canceled or one-shot; mark it inactive */
+#ifdef CONFIG_SMP
+ hrtimer->cpus--;
+#endif
- hrtimer->state = HRTIMER_STATE_INACTIVE;
- }
- else
+ switch (hrtimer->state)
{
- /* Restart the periodic timer */
-
- hrtimer->expired += period;
- hrtimer->state = HRTIMER_STATE_ARMED;
- RB_INSERT(hrtimer_tree_s, &g_hrtimer_tree, &hrtimer->node);
+ case HRTIMER_STATE_RUNNING:
+ {
+ /* Timer callback completed normally */
+
+ if (period > 0)
+ {
+ /* Periodic timer: re-arm with the next expiration */
+
+ hrtimer->expired += period;
+ hrtimer->state = HRTIMER_STATE_ARMED;
+
+ RB_INSERT(hrtimer_tree_s, &g_hrtimer_tree,
+ &hrtimer->node);
+ }
+ else
+ {
+ /* One-shot timer: deactivate when last instance ends */
+#ifdef CONFIG_SMP
+ if (hrtimer->cpus == 0)
+ {
+#endif
+ hrtimer->state = HRTIMER_STATE_INACTIVE;
+#ifdef CONFIG_SMP
+ }
+#endif
Review Comment:
Done
##########
sched/hrtimer/hrtimer_process.c:
##########
@@ -100,27 +99,81 @@ void hrtimer_process(uint64_t now)
hrtimer->state = HRTIMER_STATE_RUNNING;
+#ifdef CONFIG_SMP
+ hrtimer->cpus++;
+
+ /* cpus is a running reference counter and must never wrap */
+
+ DEBUGASSERT(hrtimer->cpus != 0);
+#endif
+
+ /* Leave critical section before invoking the callback */
+
spin_unlock_irqrestore(&g_hrtimer_spinlock, flags);
- /* Invoke the timer callback */
+ /* Execute the timer callback */
period = hrtimer->func(hrtimer);
+ /* Re-enter critical section to update timer state */
+
flags = spin_lock_irqsave(&g_hrtimer_spinlock);
- if ((hrtimer->state == HRTIMER_STATE_CANCELED) || (period == 0))
- {
- /* Timer is canceled or one-shot; mark it inactive */
+#ifdef CONFIG_SMP
+ hrtimer->cpus--;
+#endif
- hrtimer->state = HRTIMER_STATE_INACTIVE;
- }
- else
+ switch (hrtimer->state)
{
- /* Restart the periodic timer */
-
- hrtimer->expired += period;
- hrtimer->state = HRTIMER_STATE_ARMED;
- RB_INSERT(hrtimer_tree_s, &g_hrtimer_tree, &hrtimer->node);
+ case HRTIMER_STATE_RUNNING:
+ {
+ /* Timer callback completed normally */
+
+ if (period > 0)
+ {
+ /* Periodic timer: re-arm with the next expiration */
+
+ hrtimer->expired += period;
+ hrtimer->state = HRTIMER_STATE_ARMED;
+
+ RB_INSERT(hrtimer_tree_s, &g_hrtimer_tree,
+ &hrtimer->node);
+ }
+ else
+ {
+ /* One-shot timer: deactivate when last instance ends */
+#ifdef CONFIG_SMP
+ if (hrtimer->cpus == 0)
+ {
+#endif
+ hrtimer->state = HRTIMER_STATE_INACTIVE;
+#ifdef CONFIG_SMP
+ }
+#endif
+ }
+
+ break;
+ }
+
+ case HRTIMER_STATE_CANCELED:
+ {
+ /* Timer was canceled during callback execution */
+
+#ifdef CONFIG_SMP
Review Comment:
Done
##########
sched/sched/sched_processtimer.c:
##########
@@ -44,11 +44,139 @@
#include "sched/sched.h"
#include "wdog/wdog.h"
#include "clock/clock.h"
+#include "hrtimer/hrtimer.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_HRTIMER
+
+/* High-resolution timer instance used by the scheduler.
+ *
+ * This timer is responsible for driving scheduler time events,
+ * including periodic ticks in non-tickless mode or dynamic
+ * expirations in tickless mode.
+ */
+
+static hrtimer_t g_nxsched_hrtimer;
+
+/* Indicates whether the scheduler high-resolution timer has been
+ * initialized. Initialization is performed lazily on first use.
+ */
+
+static bool g_sched_hrtimer_inited = false;
/****************************************************************************
* Private Functions
****************************************************************************/
+static void nxsched_process_tick(void);
+
+/****************************************************************************
+ * Name: nxsched_hrtimer_callback
+ *
+ * Description:
+ * Callback function invoked when the scheduler high-resolution timer
+ * expires.
+ *
+ * The callback behavior depends on scheduler configuration:
+ *
+ * - CONFIG_SCHED_TICKLESS:
+ * The callback computes the current time and delegates scheduling
+ * decisions to nxsched_tick_expiration().
+ *
+ * - !CONFIG_SCHED_TICKLESS:
+ * The callback processes a single scheduler tick and returns the
+ * interval until the next tick.
+ *
+ * Input Parameters:
+ * hrtimer - Pointer to the expired high-resolution timer instance.
+ *
+ * Returned Value:
+ * In non-tickless mode, returns the number of nanoseconds until the
+ * next expiration.
+ * In tickless mode, the return value is ignored.
+ *
+ ****************************************************************************/
+
+static uint32_t nxsched_hrtimer_callback(FAR hrtimer_t *hrtimer)
+{
+#ifdef CONFIG_SCHED_TICKLESS
+ uint64_t now = hrtimer_gettime();
+
+ /* Notify the scheduler of the current time in ticks */
+
+ nxsched_tick_expiration(NSEC2TICK(now));
+#else
+
+ /* Request the next tick after a fixed interval */
+
+ hrtimer_start(&g_nxsched_hrtimer,
+ g_nxsched_hrtimer.expired + NSEC_PER_TICK,
+ HRTIMER_MODE_ABS);
+
+ /* Process one periodic scheduler tick */
+
+ nxsched_process_tick();
+
+ return 0;
+#endif
+}
+
+/****************************************************************************
+ * Name: nxsched_process_hrtimer
+ *
+ * Description:
+ * Process scheduler-related high-resolution timer events.
+ *
+ * This function performs lazy initialization of the scheduler's
+ * high-resolution timer on first invocation. Once initialized, it
+ * processes any expired high-resolution timer events.
+ *
+ * This function is expected to be called from architecture-specific
+ * timer handling code.
+ *
+ * Input Parameters:
+ * None.
+ *
+ * Returned Value:
+ * None.
+ *
+ ****************************************************************************/
+
+static void nxsched_process_hrtimer(void)
+{
+ uint64_t now = hrtimer_gettime();
Review Comment:
Done
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