xiaoxiang781216 commented on code in PR #17489: URL: https://github.com/apache/nuttx/pull/17489#discussion_r2619400609
########## sched/hrtimer/hrtimer_process.c: ########## @@ -0,0 +1,121 @@ +/**************************************************************************** + * 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> Review Comment: move before line 28 ########## sched/hrtimer/hrtimer_initialize.c: ########## @@ -0,0 +1,54 @@ +/**************************************************************************** + * 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 <hrtimer/hrtimer.h> Review Comment: <> to "" ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,159 @@ +/**************************************************************************** + * 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> + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +enum hrtimer_mode_e +{ + 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 *); Review Comment: change to hrtimer_cb, and let's return value to indicate whether this is period timer ########## sched/hrtimer/hrtimer.h: ########## @@ -0,0 +1,172 @@ +/**************************************************************************** + * 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 + ****************************************************************************/ + +/* Red-Black tree containing all active high-resolution timers */ + +extern struct hrtimer_tree_s g_activetree; + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* Red-black tree head for managing active hrtimers */ + +RB_HEAD(hrtimer_tree_s, hrtimer_node_s); + +/**************************************************************************** + * 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 */ + + clock_systime_timespec(&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(FAR const hrtimer_node_t *a, Review Comment: hrtimer_compare ########## sched/hrtimer/hrtimer_cancel.c: ########## @@ -0,0 +1,102 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_cancel.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> + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_cancel + * + * Description: + * Cancel a high-resolution timer. The timer is removed from the active + * timer RB-tree. If the canceled timer was the earliest in the tree, the + * queue expiration is adjusted to: + * + * 1. The next earliest timer in the tree, or + * 2. A safe default expiration (current time + HRTIMER_DEFAULT_INCREMENT) + * if the tree is empty. + * + * Input Parameters: + * hrtimer - Pointer to the high-resolution timer instance to be canceled. + * + * Returned Value: + * OK (0) on success, or a negated errno value on failure. + * + * Assumptions/Notes: + * - This function locks the timer tree with spinlock + * to ensure safe access. + * - The expiration of the next timer (or default) is + * set via hrtimer_starttimer(). + ****************************************************************************/ + +int hrtimer_cancel(FAR hrtimer_t *hrtimer) +{ + FAR hrtimer_t *first_hrtimer; + irqstate_t flags; + uint64_t now; + uint64_t expired; + int ret = OK; + + /* Enter critical section to protect the RB-tree */ + + flags = enter_critical_section(); + + /* Get the current earliest timer */ + + first_hrtimer = (FAR hrtimer_t *)RB_MIN(hrtimer_tree_s, &g_activetree); + + /* Remove the specified timer from the active tree */ + + RB_REMOVE(hrtimer_tree_s, &g_activetree, &hrtimer->node); + + /* If the removed timer was the earliest, update queue expiration */ + + if (first_hrtimer == hrtimer) + { + /* Fetch the new earliest timer */ + + first_hrtimer = (FAR hrtimer_t *)RB_MIN(hrtimer_tree_s, &g_activetree); + if (first_hrtimer != NULL) + { + /* Start timer for the next earliest timer */ + + ret = hrtimer_starttimer(first_hrtimer->expired); Review Comment: ditto ########## sched/hrtimer/hrtimer.h: ########## @@ -0,0 +1,172 @@ +/**************************************************************************** + * 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 + ****************************************************************************/ + +/* Red-Black tree containing all active high-resolution timers */ + +extern struct hrtimer_tree_s g_activetree; + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* Red-black tree head for managing active hrtimers */ + +RB_HEAD(hrtimer_tree_s, hrtimer_node_s); + +/**************************************************************************** + * 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 */ + + clock_systime_timespec(&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) Review Comment: let's move the hardware timer update to the hrtimer/tickless decopule pr. ########## sched/hrtimer/hrtimer_cancel.c: ########## @@ -0,0 +1,102 @@ +/**************************************************************************** + * sched/hrtimer/hrtimer_cancel.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> + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: hrtimer_cancel + * + * Description: + * Cancel a high-resolution timer. The timer is removed from the active + * timer RB-tree. If the canceled timer was the earliest in the tree, the + * queue expiration is adjusted to: + * + * 1. The next earliest timer in the tree, or + * 2. A safe default expiration (current time + HRTIMER_DEFAULT_INCREMENT) + * if the tree is empty. + * + * Input Parameters: + * hrtimer - Pointer to the high-resolution timer instance to be canceled. + * + * Returned Value: + * OK (0) on success, or a negated errno value on failure. + * + * Assumptions/Notes: + * - This function locks the timer tree with spinlock + * to ensure safe access. + * - The expiration of the next timer (or default) is + * set via hrtimer_starttimer(). + ****************************************************************************/ + +int hrtimer_cancel(FAR hrtimer_t *hrtimer) +{ + FAR hrtimer_t *first_hrtimer; + irqstate_t flags; + uint64_t now; + uint64_t expired; + int ret = OK; + + /* Enter critical section to protect the RB-tree */ + + flags = enter_critical_section(); Review Comment: let's switch to spinlock to improve the performance ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,159 @@ +/**************************************************************************** + * 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> + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +enum hrtimer_mode_e +{ + 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 */ +}; + +/* High-resolution timer instance */ + +struct hrtimer_s +{ + struct hrtimer_node_s node; /* RB-tree node for sorted insertion */ + hrtentry_t func; /* Expiration callback function */ Review Comment: align `*/` with line 76 ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,159 @@ +/**************************************************************************** + * 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> Review Comment: remove line 30-34 except nuttx/compiler.h ########## 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> Review Comment: change to `"hrtimer/hrtimer.h"` ########## sched/hrtimer/hrtimer.h: ########## @@ -0,0 +1,172 @@ +/**************************************************************************** + * 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 + ****************************************************************************/ + +/* Red-Black tree containing all active high-resolution timers */ + +extern struct hrtimer_tree_s g_activetree; Review Comment: g_activetree is too general, let's g_hrtimer_tree ########## 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: I would prefer to move the hrtimer tick mode support to new pr since it will change how scheduler to work which need more careful design and review. ########## 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); + } + } + else + { + ret = -EINVAL; + } + + 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_e mode) +{ + irqstate_t flags; + int ret = OK; + + /* Compute expiration time based on mode */ + + if (mode == HRTIMER_MODE_ABS) + { + hrtimer->expired = ns; + } + else + { + hrtimer->expired = hrtimer_gettime() + ns; + } + + /* Insert the timer under spinlock protection */ + + flags = enter_critical_section(); Review Comment: change all critical section to spinlock ########## include/nuttx/hrtimer.h: ########## @@ -0,0 +1,159 @@ +/**************************************************************************** + * 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> + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* High-resolution timer modes: + * + * HRTIMER_MODE_ABS - Absolute expiration time + * HRTIMER_MODE_REL - Relative timeout from current time + */ + +enum hrtimer_mode_e +{ + 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 */ +}; + +/* 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_function +void hrtimer_init(FAR hrtimer_t *hrtimer, + hrtentry_t func, + FAR void *arg) +{ + hrtimer->func = func; + hrtimer->arg = arg; +} + +/**************************************************************************** + * Name: hrtimer_cancel + * + * Description: + * Cancel a high-resolution timer if it is pending. The timer callback + * will not be called if the timer was successfully canceled. + * + * Input Parameters: + * hrtimer - Timer instance to cancel + * + * Returned Value: + * OK on success; negated errno on failure. + ****************************************************************************/ + +int hrtimer_cancel(FAR hrtimer_t *hrtimer); Review Comment: let's add hrtimer_try_cancel -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
