wangchdo commented on PR #17489: URL: https://github.com/apache/nuttx/pull/17489#issuecomment-3660154779
> In hard real-time applications, nanosecond-level control of task activation is essential for certain scenarios—such as motor control—where tick-level precision is simply inadequate. > > For these use cases, the main limitation of wdog is its tick-based resolution, which is typically in milliseconds. Although the tick duration can be reduced, configuring it to microsecond or nanosecond granularity is impractical, as this would lead to an interrupt storm in which the CPU becomes saturated by handling an excessive number of tick interrupts. > > Therefore, an independent high-resolution timer (hrtimer) is required to support use cases—such as motor control—that demand true high-precision timing. > > Additionally, hrtimer uses an RB-tree (red-black tree) for timer management, which is more efficient than the list-based structure used by wdog when dealing with a large number of timer events. This advantage becomes increasingly important in hard real-time systems, such as vehicle control systems. Done, please take a look at the latest upload or this PR. -- 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]
