anchao commented on code in PR #17573:
URL: https://github.com/apache/nuttx/pull/17573#discussion_r2684386661
##########
sched/sched/sched_processtimer.c:
##########
@@ -44,11 +44,116 @@
#include "sched/sched.h"
#include "wdog/wdog.h"
#include "clock/clock.h"
+#include "hrtimer/hrtimer.h"
+
+#ifdef CONFIG_HRTIMER
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint64_t
+nxsched_hrtimer_callback(FAR const hrtimer_t *hrtimer,
+ uint64_t expired);
+
+static void nxsched_process_tick(void);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* 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 =
+{
+ .func = nxsched_hrtimer_callback,
+};
/****************************************************************************
* Private Functions
****************************************************************************/
+/****************************************************************************
+ * 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
+ nxsched_tick_expiration();
+#else
+ nxsched_process_tick();
+ return NSEC_PER_TICK;
+#endif
Review Comment:
```suggestion
#endif
return NSEC_PER_TICK;
```
or return value could be removed?
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