pkarashchenko commented on pull request #5421:
URL: https://github.com/apache/incubator-nuttx/pull/5421#issuecomment-1030691563


   Yes. The operation of wdog and delays is fully understood and I 100% agree 
with that. The timerfd was introduced recently, but they are implemented 90% 
the same a POSIX timers and POSIX timers rely on wdog so currently have 
accumulative if periodic timers are used. I think that is bad and should be 
fixed. The first expiration of a POSIX timers can have +1 tick, but all 
subsequent should not. I will try to see how that can be fixed. Maybe we can 
add extra path from systick interrupt and introduce separate timer 
recalculation path.


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