xiaoxiang781216 commented on code in PR #17065:
URL: https://github.com/apache/nuttx/pull/17065#discussion_r2374542214
##########
arch/tricore/src/common/tricore_systimer.c:
##########
@@ -332,17 +332,83 @@ tricore_systimer_tick_start(struct oneshot_lowerhalf_s
*lower,
static int tricore_systimer_interrupt(int irq, void *context, void *arg)
{
+#ifdef CONFIG_HRTIMER
+ (void)irq;
+ (void)context;
+ (void)arg;
+
+ hrtimer_queue_process(&g_hrtimer_oneshot_queue);
+#else
struct tricore_systimer_lowerhalf_s *priv = arg;
tricore_systimer_set_timecmp(priv, UINT64_MAX);
if (priv->callback != NULL)
{
priv->callback(&priv->lower, priv->arg);
}
+#endif
return 0;
}
+#ifdef CONFIG_HRTIMER
+static int
+tricore_hrtimer_set_expire(FAR const struct hrtimer_driver_s *driver,
+ hrtimer_time_t expiration_time)
+{
+ (void)driver;
+
+ struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;
+
+ IfxStm_updateCompare(priv->tbase, IfxStm_Comparator_0, expiration_time);
+
+ return OK;
+}
+
+static hrtimer_time_t
+tricore_hrtimer_current(FAR const struct hrtimer_driver_s *driver)
+{
+ (void)driver;
+
+ struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;
+
+ return IfxStm_get(priv->tbase);
+}
+
+static int tricore_hrtimer_start(FAR const struct hrtimer_driver_s *driver)
+{
+ (void)driver;
+
+ up_enable_irq(192);
+
+ return OK;
+}
+
+static int tricore_hrtimer_trigger(FAR const struct hrtimer_driver_s *driver)
+{
+ (void)driver;
+
+ up_trigger_irq(192, 0);
+
+ return OK;
+}
+
+static const struct hrtimer_driver_ops_s g_hrtimer_driver_ops =
+{
+ .set_expire = tricore_hrtimer_set_expire,
+ .current = tricore_hrtimer_current,
+ .start = tricore_hrtimer_start,
+ .trigger = tricore_hrtimer_trigger,
+};
+
+static struct hrtimer_driver_s g_hrtimer_driver =
Review Comment:
why not reuse up_alarm_/up_timer_ interface, and oneshot/timer driver model,
but add new hrtimer_driver_s?
##########
arch/tricore/src/common/tricore_systimer.c:
##########
@@ -376,7 +443,13 @@ tricore_systimer_initialize(volatile void *tbase, int irq,
uint64_t freq)
IfxStm_enableComparatorInterrupt(tbase, IfxStm_Comparator_0);
irq_attach(irq, tricore_systimer_interrupt, priv);
- up_enable_irq(irq);
- return (struct oneshot_lowerhalf_s *)priv;
+ up_alarm_set_lowerhalf((struct oneshot_lowerhalf_s *)priv);
Review Comment:
line 347 is skipped when CONFIG_HRTIMER equal y, how OS activity get
scheduled?
##########
sched/Kconfig:
##########
@@ -2034,3 +2034,21 @@ config CUSTOM_SEMAPHORE_MAXVALUE
---help---
Enable to support custom max value for semaphores.
When this option is enabled, the max value of a semaphore can
be set
+
+config HRTIMER
+ bool "High-resolution timer (hrtimer) support"
+ depends on ONESHOT
Review Comment:
hrtimer should call up_alarm_/up_timer_ api, not ONESHOT directly
##########
include/nuttx/hrtimer.h:
##########
@@ -0,0 +1,475 @@
+/****************************************************************************
+ * include/nuttx/hrtimer.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_TIMERS_HRTIMER_H
+#define __INCLUDE_NUTTX_TIMERS_HRTIMER_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/clock.h>
+#include <nuttx/spinlock.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Select tick type (32-bit or 64-bit) based on configuration */
+
+typedef clock_t hrtimer_time_t;
+
+#ifdef CONFIG_SYSTEM_TIME64
+# define HRTIMER_MAX_VALUE UINT64_MAX
+#else
+# define HRTIMER_MAX_VALUE UINT32_MAX
+#endif
+
+/* The maximum increment that can be safely distinguished without overflow */
+
+#define HRTIMER_MAX_INCREMENT (HRTIMER_MAX_VALUE >> 1)
+
+/* Default expiration increment if no timer is active */
+
+#define HRTIMER_DEFAULT_INCREMENT ((hrtimer_time_t)UINT32_MAX >> 2)
+
+/* Convert microseconds/nanoseconds to hardware timer ticks */
+
+#define HRTIMER_QUEUE_USEC2TICKS(queue, us) \
+ (((hrtimer_time_t)(us)) * ((queue)->driver->freq) / USEC_PER_SEC)
+
+#define HRTIMER_QUEUE_NSEC2TICKS(queue, ns) \
+ (((hrtimer_time_t)(ns)) * ((queue)->driver->freq) / NSEC_PER_SEC)
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* Timer mode: absolute or relative */
+
+enum hrtimer_mode
+{
+ HRTIMER_MODE_ABS = 0x0, /* Absolute expiration time */
+ HRTIMER_MODE_REL = 0x1 /* Relative delay from now */
+};
+
+/* Forward declarations */
+
+struct hrtimer_s;
+struct hrtimer_queue_s;
+
+/* Callback type for high-resolution timer expiration */
+
+typedef void (*hrtimer_callback_t)(FAR struct hrtimer_s *);
+
+/* Hardware-specific timer operations. These must be provided by the
+ * underlying architecture/platform driver. They define how to set the
+ * expiration, read current time, start and trigger the hardware timer.
+ */
+
+struct hrtimer_driver_ops_s
Review Comment:
we should reuse oneshot or timer drive model, instead creating new one
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