xiaoxiang781216 commented on code in PR #17489:
URL: https://github.com/apache/nuttx/pull/17489#discussion_r2617226512
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arch/tricore/src/common/tricore_systimer.c:
##########
@@ -323,3 +323,35 @@ tricore_systimer_initialize(volatile void *tbase, int irq,
uint64_t freq)
return (struct oneshot_lowerhalf_s *)priv;
}
+
+int up_alarm_start(FAR const struct timespec *ts)
Review Comment:
why need implement up_alarm_start manually, and not reuse arch_alarm?
##########
drivers/timers/arch_alarm.c:
##########
Review Comment:
why not continue use nxsched_process_timer?
##########
Documentation/reference/os/time_clock.rst:
##########
@@ -657,3 +657,65 @@ with NuttX tasks.
#else
typedef uint32_t wdparm_t;
#endif
+
+High-resolution Timer Interfaces
+================================
+
+NuttX provides a high-resolution timer facility. This facility
+allows the NuttX user to specify a hrtimer function that
+will run after a specified delay in nanosec resolution. The hrtimer
+function will run in the context of the timer interrupt handler.
+Because of this, a limited number of NuttX interfaces are available to he
+hrtimer function. However, the hrtimer function may
+use ``mq_send()``, ``sigqueue()``, ``nxevent_post()``, or ``kill()``
+to communicate with NuttX tasks.
+
+- :c:func:`hrtimer_init`
+- :c:func:`hrtimer_cancel`
+- :c:func:`hrtimer_start`
+- High-resolution Timer Callback
+
+.. c:function:: void hrtimer_init(FAR hrtimer_t *hrtimer, hrtentry_t func, \
+ FAR void *arg)
+
+ This function initializes a high-resolution timer instance.
+ Sets the expiration callback and its argument. The timer is
+ not started by this function.
+
+ :param hrtimer: Pointer to hrtimer instance
+ :param func: Expiration callback function
+ :param arg: Callback argument
+
+ :return: None.
+
+ **POSIX Compatibility:** This is a NON-POSIX interface.
+
+.. c:function:: int hrtimer_cancel(FAR hrtimer_t *hrtimer)
+
+ This function cancels a high-resolution timer if it is pending.
+ The timer callback will not be called if the timer was successfully
+ canceled.
+
+ :param hrtimer: Timer instance to cancel
+
+ :return: ``OK`` on success; negated errno on failure.
+
+ **POSIX Compatibility:** This is a NON-POSIX interface.
+
+.. c:function:: int hrtimer_start(FAR hrtimer_t *hrtimer, uint64_t ns, \
Review Comment:
where the test case for the new hrtimer api?
##########
sched/hrtimer/hrtimer_start.c:
##########
@@ -0,0 +1,135 @@
+/****************************************************************************
+ * 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)
+ {
+ if (&hrtimer->node == RB_MIN(hrtimer_tree_s, &g_activetree))
+ {
+ /* If new timer is the earliest, start hardware timer */
+
+ ret = hrtimer_starttimer(hrtimer->expired);
Review Comment:
should reuse nxsched_reassess_timer to program the hardware timer
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