wangchdo opened a new pull request, #18002:
URL: https://github.com/apache/nuttx/pull/18002
## Summary
This PR includes two commits:
commit 1:
Consolidate nxsched_process_timer into sched_timer.c, and introduce
nxsched_process_tick() to improve readability and maintainability of
the scheduler timer processing logic.
commit 2:
Add hrtimer support to drive the scheduler.
## Impact
Improve scheduler timer processing logic and enable hrtimer support for
scheduler.
## Testing
**ostest passed on rv-virt:smp64 when hrtimer is enabled**
```
NuttShell (NSH)
nsh>
nsh>
nsh> uname -a
NuttX 0.0.0 a8c1583552-dirty Jan 19 2026 13:12:31 risc-v rv-virt
nsh> ostest
(...)
user_main: hrtimer test
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fc0c20 1fc0c20
ordblks 6 6
mxordblk 1fab270 1fab270
uordblks 10898 12080
fordblks 1fb0388 1faeba0
Final memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fc0c20 1fc0c20
ordblks 1 6
mxordblk 1fb5b30 1fab270
uordblks b0f0 12080
fordblks 1fb5b30 1faeba0
user_main: Exiting
ostest_main: Exiting with status 0
nsh>
```
**ostest passed on a2g-tc397-5v-tft:nsh when hrtimer is enabled**
```
NuttShell (NSH)
nsh>
nsh>
nsh>
nsh> uname -a
NuttX 0.0.0 a8c1583552-dirty Jan 19 2026 13:16:08 tricore a2g-tc397-5v-tft
nsh>
nsh> ostest
(...)
user_main: hrtimer test
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 28dfc 28dfc
ordblks 6 6
mxordblk 1f890 1f890
uordblks 5574 5574
fordblks 23888 23888
Final memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 28dfc 28dfc
ordblks 1 6
mxordblk 24208 1f890
uordblks 4bf4 5574
fordblks 24208 23888
user_main: Exiting
ostest_main: Exiting with status 0
nsh>
```
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