wangchdo commented on PR #17489:
URL: https://github.com/apache/nuttx/pull/17489#issuecomment-3658444187
@xiaoxiang781216 @anchao @acassis @simbit18 @cederom
Per @xiaoxiang781216’s comments, I have updated the critical section
protection for hrtimer to use a spinlock to improve performance.
However, to prevent potential issues where hrtimer_cancel() might cancel a
running timer and the timer instance could be freed prematurely, I have
introduced a state machine for hrtimer:
```
INACTIVE
|
| start
v
ARMED -------- cancel --------> CANCELED
| ^
| expire |
v |
RUNNING -------- cancel ----------+
|
| return
v
INACTIVE
```
**Key points:**
1. hrtimer_cancel() remains non-blocking.
2. If the timer callback is currently executing, it is allowed to complete.
3. After cancellation, the callback will not be invoked again.
4. The caller must ensure that timer-related resources are not freed until
the callback has returned.
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