xiaoxiang781216 commented on code in PR #17489: URL: https://github.com/apache/nuttx/pull/17489#discussion_r2616172505
########## sched/hrtimer/hrtimer_start.c: ########## @@ -0,0 +1,138 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_start.c + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <errno.h> +#include <hrtimer/hrtimer.h> + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_insert + * + * Description: + * Insert the given high-resolution timer into the active timer RB-tree. + * If the timer already exists, it will be removed and re-inserted. + * If the inserted timer is the earliest in the tree, start the hardware + * timer to fire at its expiration. + * + * Input Parameters: + * hrtimer - Pointer to the hrtimer structure to be inserted. + * + * Returned Value: + * OK (0) on success, or a negated errno value on failure. + * + * Assumptions/Notes: + * - This function should be called with interrupts disabled or under + * spinlock protection to ensure RB-tree integrity. + * - Inline function for performance in critical path. + ****************************************************************************/ + +static inline_function +int hrtimer_insert(FAR hrtimer_t *hrtimer) +{ + int ret = OK; + FAR struct hrtimer_node_s *inserted = + RB_INSERT(hrtimer_tree_s, &g_activetree, &hrtimer->node); + + if (inserted != NULL) + { + /* Timer already exists in tree, remove and re-insert */ + + RB_REMOVE(hrtimer_tree_s, &g_activetree, &hrtimer->node); + (void)RB_INSERT(hrtimer_tree_s, &g_activetree, &hrtimer->node); + } + + if (&hrtimer->node == RB_MIN(hrtimer_tree_s, &g_activetree)) + { + /* If new timer is the earliest, start hardware timer */ + + ret = hrtimer_starttimer(hrtimer->expired); + } + + return ret; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_start + * + * Description: + * Start a high-resolution timer to expire after a specified duration + * in nanoseconds, either as an absolute or relative time. + * + * Input Parameters: + * hrtimer - Pointer to the hrtimer structure. + * ns - Expiration time in nanoseconds. Interpretation + * depends on mode. + * mode - Timer mode (HRTIMER_MODE_ABS or HRTIMER_MODE_REL). + * + * Returned Value: + * OK (0) on success, or a negated errno value on failure. + * + * Assumptions/Notes: + * - This function disables interrupts briefly via spinlock to safely + * insert the timer into the RB-tree. + * - Absolute mode sets the timer to expire at the given absolute time. + * - Relative mode sets the timer to expire after 'ns' + * nanoseconds from now. + ****************************************************************************/ + +int hrtimer_start(FAR hrtimer_t *hrtimer, + uint64_t ns, + enum hrtimer_mode mode) +{ + irqstate_t flags; + uint64_t now; + int ret = OK; + + /* Compute expiration time based on mode */ + + if (mode == HRTIMER_MODE_ABS) + { + hrtimer->expired = ns; + } + else + { + now = hrtimer_gettime(); + hrtimer->expired = now + ns; Review Comment: `hrtimer->expired = hrtimer_gettime() + ns;` ########## sched/hrtimer/hrtimer_process.c: ########## @@ -0,0 +1,149 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_process.c + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <assert.h> +#include <hrtimer/hrtimer.h> + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_process + * + * Description: + * Process all expired high-resolution timers. This function repeatedly + * retrieves the earliest timer from the active timer RB-tree, checks if it + * has expired relative to the current time, removes it from the tree, + * and invokes its callback function. Processing continues until: + * + * 1. No additional timers have expired, or + * 2. The active timer set is empty. + * + * After all expired timers are processed, the next expiration event is + * scheduled based on: + * + * - The earliest remaining timer, or + * - A fallback expiration (current time + HRTIMER_DEFAULT_INCREMENT) + * if no timers remain. + * + * Input Parameters: + * ts - Pointer to the current high-resolution timestamp. + * + * Returned Value: + * None. + * + * Assumptions/Notes: + * - This function acquires a spinlock to protect the timer RB-tree. + * - Timer callbacks are invoked with interrupts enabled + * to avoid deadlocks. + * - DEBUGASSERT ensures that timer callbacks are valid. + ****************************************************************************/ + +void hrtimer_process(uint64_t now) +{ + FAR hrtimer_t *hrtimer; + uint64_t expired; + irqstate_t flags; + + /* Lock the hrtimer RB-tree to protect access */ + + flags = spin_lock_irqsave(&g_hrtspinlock); + + /* Fetch the earliest active timer */ + + hrtimer = (FAR hrtimer_t *)RB_MIN(hrtimer_tree_s, &g_activetree); + + while (hrtimer != NULL) + { + /* Check if the timer has expired */ + + bool expired = clock_compare(hrtimer->expired, now); + + if (!expired) + { + /* Update current time and recheck */ + + now = hrtimer_gettime(); Review Comment: why refresh now again? it's simple to set a expired hardware timer. ########## sched/hrtimer/hrtimer.h: ########## @@ -0,0 +1,169 @@ +/**************************************************************************** + * sched/hrtimer/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 __SCHED_HRTIMER_HRTIMER_H +#define __SCHED_HRTIMER_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <nuttx/hrtimer.h> + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* Spinlock to protect access to the high-resolution timer red-black tree */ + +extern spinlock_t g_hrtspinlock; + +/* Red-Black tree containing all active high-resolution timers */ + +extern struct hrtimer_tree_s g_activetree; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_process + * + * Description: + * Called from the timer interrupt handler to process expired + * high-resolution timers. If a timer has expired, its callback + * function will be executed in the context of the timer interrupt. + * + * Input Parameters: + * now - The current time (nsecs). + * + * Returned Value: + * None + ****************************************************************************/ + +void hrtimer_process(uint64_t now); + +/**************************************************************************** + * Inline Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_gettime + * + * Description: + * Get the current high-resolution time in nanoseconds. + * + * Returned Value: + * Current time in nanoseconds. + ****************************************************************************/ + +static inline_function +uint64_t hrtimer_gettime(void) +{ + struct timespec ts; + + /* Get current time from platform-specific timer */ + + up_timer_gettime(&ts); + + /* Convert timespec to nanoseconds */ + + return clock_time2nsec(&ts); +} + +/**************************************************************************** + * Name: hrtimer_starttimer + * + * Description: + * Start the hardware timer to expire at a specified nanosecond time. + * Converts the nanosecond time to timespec and calls the platform-specific + * timer start function. + * + * Input Parameters: + * ns - Expiration time in nanoseconds. + * + * Returned Value: + * OK (0) on success, negated errno on failure. + ****************************************************************************/ + +static inline_function +int hrtimer_starttimer(uint64_t ns) +{ + struct timespec ts; + int ret; + + /* Convert nanoseconds to timespec */ + + clock_nsec2time(&ts, ns); + +#ifdef CONFIG_ALARM_ARCH + ret = up_alarm_start(&ts); +#elif defined(CONFIG_TIMER_ARCH) + ret = up_timer_start(&ts); +#endif + + return ret; +} + +/**************************************************************************** + * Name: hrtimer_cmp + * + * Description: + * Compare two high-resolution timer nodes to determine their ordering + * in the red-black tree. Used internally by the RB-tree macros. + * + * Input Parameters: + * a - Pointer to the first hrtimer node. + * b - Pointer to the second hrtimer node. + * + * Returned Value: + * >0 if b expires before a + * 0 if a and b expire at the same time + * <0 if b expires after a + ****************************************************************************/ + +static inline_function +int hrtimer_cmp(hrtimer_node_t *a, Review Comment: add FAR and const ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,170 @@ +/**************************************************************************** + * 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_HRTIMER_H +#define __INCLUDE_NUTTX_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/clock.h> +#include <nuttx/compiler.h> +#include <nuttx/spinlock.h> + +#include <stdint.h> +#include <sys/tree.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Default increment for high-resolution timers if no specific value is set */ + +#define HRTIMER_DEFAULT_INCREMENT ((uint64_t)UINT32_MAX >> 2) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +enum hrtimer_mode Review Comment: hrtimer_mode_e ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,170 @@ +/**************************************************************************** + * 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_HRTIMER_H +#define __INCLUDE_NUTTX_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/clock.h> +#include <nuttx/compiler.h> +#include <nuttx/spinlock.h> + +#include <stdint.h> +#include <sys/tree.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Default increment for high-resolution timers if no specific value is set */ + +#define HRTIMER_DEFAULT_INCREMENT ((uint64_t)UINT32_MAX >> 2) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +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_node_s; +typedef struct hrtimer_s hrtimer_t; +typedef struct hrtimer_node_s hrtimer_node_t; + +/* Callback type for high-resolution timer expiration */ + +typedef void (*hrtentry_t)(FAR struct hrtimer_s *); + +/* Red-black tree node for hrtimer */ + +struct hrtimer_node_s +{ + RB_ENTRY(hrtimer_node_s) entry; /* RB-tree linkage for sorted insertion */ +}; + +/* Red-black tree head for managing active hrtimers */ + +RB_HEAD(hrtimer_tree_s, hrtimer_node_s); + +/* High-resolution timer instance */ + +struct hrtimer_s +{ + struct hrtimer_node_s node; /* RB-tree node for sorted insertion */ + hrtentry_t func; /* Expiration callback function */ + FAR void *arg; /* Argument passed to callback */ + uint64_t expired; /* Expiration time in absolute ns */ +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: hrtimer_init + * + * Description: + * Initialize a high-resolution timer instance. Sets the expiration + * callback and its argument. The timer is not started by this function. + * + * Input Parameters: + * hrtimer - Pointer to hrtimer instance + * func - Expiration callback function + * arg - Callback argument + * + * Returned Value: + * None + ****************************************************************************/ + +static inline void hrtimer_init(FAR hrtimer_t *hrtimer, + hrtentry_t func, + FAR void *arg) +{ + hrtimer->func = func; Review Comment: remove the extra spaces before = ########## sched/hrtimer/hrtimer_initialize.c: ########## @@ -0,0 +1,62 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_initialize.c + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <errno.h> Review Comment: why include ########## sched/hrtimer/hrtimer_start.c: ########## @@ -0,0 +1,138 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_start.c + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <errno.h> +#include <hrtimer/hrtimer.h> + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_insert + * + * Description: + * Insert the given high-resolution timer into the active timer RB-tree. + * If the timer already exists, it will be removed and re-inserted. + * If the inserted timer is the earliest in the tree, start the hardware + * timer to fire at its expiration. + * + * Input Parameters: + * hrtimer - Pointer to the hrtimer structure to be inserted. + * + * Returned Value: + * OK (0) on success, or a negated errno value on failure. + * + * Assumptions/Notes: + * - This function should be called with interrupts disabled or under + * spinlock protection to ensure RB-tree integrity. + * - Inline function for performance in critical path. + ****************************************************************************/ + +static inline_function +int hrtimer_insert(FAR hrtimer_t *hrtimer) +{ + int ret = OK; + FAR struct hrtimer_node_s *inserted = + RB_INSERT(hrtimer_tree_s, &g_activetree, &hrtimer->node); + + if (inserted != NULL) + { + /* Timer already exists in tree, remove and re-insert */ Review Comment: why this case can happen ########## sched/hrtimer/Make.defs: ########## @@ -0,0 +1,32 @@ +############################################################################ +# sched/hrtimer/Make.defs +# +# 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. +# +############################################################################ + +# Add hrtimer-related files to the build + +ifeq ($(CONFIG_SCHED_EVENTS),y) Review Comment: CONFIG_HRTIMER ########## drivers/timers/arch_alarm.c: ########## @@ -122,7 +122,7 @@ static void oneshot_callback(FAR struct oneshot_lowerhalf_s *lower, ONESHOT_TICK_CURRENT(g_oneshot_lower, &now); #ifdef CONFIG_SCHED_TICKLESS - nxsched_tick_expiration(now); + (void)nxsched_tick_expiration(now); Review Comment: revert the cast ########## sched/hrtimer/hrtimer.h: ########## @@ -0,0 +1,169 @@ +/**************************************************************************** + * sched/hrtimer/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 __SCHED_HRTIMER_HRTIMER_H +#define __SCHED_HRTIMER_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <nuttx/hrtimer.h> + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* Spinlock to protect access to the high-resolution timer red-black tree */ + +extern spinlock_t g_hrtspinlock; + +/* Red-Black tree containing all active high-resolution timers */ + +extern struct hrtimer_tree_s g_activetree; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_process + * + * Description: + * Called from the timer interrupt handler to process expired + * high-resolution timers. If a timer has expired, its callback + * function will be executed in the context of the timer interrupt. + * + * Input Parameters: + * now - The current time (nsecs). + * + * Returned Value: + * None + ****************************************************************************/ + +void hrtimer_process(uint64_t now); + +/**************************************************************************** + * Inline Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_gettime + * + * Description: + * Get the current high-resolution time in nanoseconds. + * + * Returned Value: + * Current time in nanoseconds. + ****************************************************************************/ + +static inline_function +uint64_t hrtimer_gettime(void) +{ + struct timespec ts; + + /* Get current time from platform-specific timer */ + + up_timer_gettime(&ts); Review Comment: clock_systime_timespec ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,170 @@ +/**************************************************************************** + * 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_HRTIMER_H +#define __INCLUDE_NUTTX_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/clock.h> +#include <nuttx/compiler.h> +#include <nuttx/spinlock.h> + +#include <stdint.h> +#include <sys/tree.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Default increment for high-resolution timers if no specific value is set */ + +#define HRTIMER_DEFAULT_INCREMENT ((uint64_t)UINT32_MAX >> 2) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +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_node_s; +typedef struct hrtimer_s hrtimer_t; +typedef struct hrtimer_node_s hrtimer_node_t; + +/* Callback type for high-resolution timer expiration */ + +typedef void (*hrtentry_t)(FAR struct hrtimer_s *); + +/* Red-black tree node for hrtimer */ + +struct hrtimer_node_s +{ + RB_ENTRY(hrtimer_node_s) entry; /* RB-tree linkage for sorted insertion */ +}; + +/* Red-black tree head for managing active hrtimers */ + +RB_HEAD(hrtimer_tree_s, hrtimer_node_s); + +/* High-resolution timer instance */ + +struct hrtimer_s +{ + struct hrtimer_node_s node; /* RB-tree node for sorted insertion */ + hrtentry_t func; /* Expiration callback function */ + FAR void *arg; /* Argument passed to callback */ + uint64_t expired; /* Expiration time in absolute ns */ +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: hrtimer_init + * + * Description: + * Initialize a high-resolution timer instance. Sets the expiration + * callback and its argument. The timer is not started by this function. + * + * Input Parameters: + * hrtimer - Pointer to hrtimer instance + * func - Expiration callback function + * arg - Callback argument + * + * Returned Value: + * None + ****************************************************************************/ + +static inline void hrtimer_init(FAR hrtimer_t *hrtimer, Review Comment: ALL inline to inline_function ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,170 @@ +/**************************************************************************** + * 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_HRTIMER_H +#define __INCLUDE_NUTTX_HRTIMER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/clock.h> +#include <nuttx/compiler.h> +#include <nuttx/spinlock.h> + +#include <stdint.h> +#include <sys/tree.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Default increment for high-resolution timers if no specific value is set */ + +#define HRTIMER_DEFAULT_INCREMENT ((uint64_t)UINT32_MAX >> 2) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +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_node_s; +typedef struct hrtimer_s hrtimer_t; +typedef struct hrtimer_node_s hrtimer_node_t; + +/* Callback type for high-resolution timer expiration */ + +typedef void (*hrtentry_t)(FAR struct hrtimer_s *); + +/* Red-black tree node for hrtimer */ + +struct hrtimer_node_s +{ + RB_ENTRY(hrtimer_node_s) entry; /* RB-tree linkage for sorted insertion */ +}; + +/* Red-black tree head for managing active hrtimers */ + +RB_HEAD(hrtimer_tree_s, hrtimer_node_s); Review Comment: move to sched/hrtimer/htrimer.h ########## sched/hrtimer/hrtimer_process.c: ########## @@ -0,0 +1,149 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_process.c + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <assert.h> +#include <hrtimer/hrtimer.h> + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_process + * + * Description: + * Process all expired high-resolution timers. This function repeatedly + * retrieves the earliest timer from the active timer RB-tree, checks if it + * has expired relative to the current time, removes it from the tree, + * and invokes its callback function. Processing continues until: + * + * 1. No additional timers have expired, or + * 2. The active timer set is empty. + * + * After all expired timers are processed, the next expiration event is + * scheduled based on: + * + * - The earliest remaining timer, or + * - A fallback expiration (current time + HRTIMER_DEFAULT_INCREMENT) + * if no timers remain. + * + * Input Parameters: + * ts - Pointer to the current high-resolution timestamp. + * + * Returned Value: + * None. + * + * Assumptions/Notes: + * - This function acquires a spinlock to protect the timer RB-tree. + * - Timer callbacks are invoked with interrupts enabled + * to avoid deadlocks. + * - DEBUGASSERT ensures that timer callbacks are valid. + ****************************************************************************/ + +void hrtimer_process(uint64_t now) +{ + FAR hrtimer_t *hrtimer; + uint64_t expired; + irqstate_t flags; + + /* Lock the hrtimer RB-tree to protect access */ + + flags = spin_lock_irqsave(&g_hrtspinlock); + + /* Fetch the earliest active timer */ + + hrtimer = (FAR hrtimer_t *)RB_MIN(hrtimer_tree_s, &g_activetree); + + while (hrtimer != NULL) + { + /* Check if the timer has expired */ + + bool expired = clock_compare(hrtimer->expired, now); + + if (!expired) + { + /* Update current time and recheck */ + + now = hrtimer_gettime(); + expired = clock_compare(hrtimer->expired, now); + + if (!expired) + { + /* No more expired timers, exit loop */ + + break; + } + } + + /* Remove the expired timer from the active tree */ + + RB_REMOVE(hrtimer_tree_s, &g_activetree, &hrtimer->node); + + /* Ensure the timer callback is valid */ + + DEBUGASSERT(hrtimer->func != NULL); + + /* Unlock tree while calling the timer callback to prevent deadlock */ + + spin_unlock_irqrestore(&g_hrtspinlock, flags); + + /* Invoke the timer callback */ + + hrtimer->func(hrtimer); + + /* Re-lock the tree for further processing */ + + flags = spin_lock_irqsave(&g_hrtspinlock); + + /* Fetch the next earliest timer */ + + hrtimer = (FAR hrtimer_t *)RB_MIN(hrtimer_tree_s, &g_activetree); + } + + /* Schedule the next timer expiration */ + + if (hrtimer != NULL) + { + /* Start timer for the next earliest expiration */ + + (void)hrtimer_starttimer(hrtimer->expired); + } + else + { + /* No active timers, schedule fallback expiration */ + + now = hrtimer_gettime(); + expired = now + HRTIMER_DEFAULT_INCREMENT; Review Comment: the hardware timer should stop in this case -- This is an automated message from the Apache Git Service. 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