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sched/hrtimer: fix hrtimer regression introduced by recent update

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The hrtimer subsystem is independent of the OS tick mechanism and tickless
mode. It must always be able to reprogram the hardware timer to achieve
nanosecond-level resolution.

A recent update restricted hardware timer reprogramming to tickless mode
only. As a result, hrtimer no longer functions correctly when the scheduler
is running in tick-based mode.

This change removes the incorrect dependency on tickless mode and restores
proper hrtimer operation.

Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
This commit is contained in:
wangchengdong
2026-01-27 10:38:22 +08:00
committed by Xiang Xiao
parent d9a0cf46ac
commit 2ae62d71a6
2 changed files with 15 additions and 11 deletions
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include/nuttx/arch.h
+4 -3
View File
@@ -2063,8 +2063,8 @@ int up_alarm_tick_cancel(FAR clock_t *ticks);
*
****************************************************************************/
#if defined(CONFIG_HRTIMER) || \
defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM)
#if (defined(CONFIG_HRTIMER) && defined(CONFIG_ALARM_ARCH)) || \
(defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM))
int up_alarm_start(FAR const struct timespec *ts);
int up_alarm_tick_start(clock_t ticks);
#endif
@@ -2135,7 +2135,8 @@ int up_timer_tick_cancel(FAR clock_t *ticks);
*
****************************************************************************/
#if defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM)
#if (defined(CONFIG_HRTIMER) && defined(CONFIG_TIMER_ARCH)) || \
(defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM))
int up_timer_start(FAR const struct timespec *ts);
int up_timer_tick_start(clock_t ticks);
#endif
sched/hrtimer/hrtimer.h
+11 -8
View File
@@ -122,26 +122,29 @@ void hrtimer_process(uint64_t now);
* ns - Expiration time in nanoseconds.
*
* Returned Value:
* OK (0) on success, negated errno on failure.
* None.
*
* Assumptions:
* The underlying timer start function returns 0 on success.
****************************************************************************/
static inline_function void hrtimer_reprogram(uint64_t next_expired)
{
#ifdef CONFIG_SCHED_TICKLESS
int ret;
int ret = 0;
struct timespec ts;
# ifdef CONFIG_SCHED_TICKLESS_ALARM
clock_nsec2time(&ts, next_expired);
#ifdef CONFIG_ALARM_ARCH
ret = up_alarm_start(&ts);
# else
#else
struct timespec current;
up_timer_gettime(&current);
clock_nsec2time(&ts, next_expired);
clock_timespec_subtract(&ts, &current, &ts);
ret = up_timer_start(&ts);
# endif
DEBUGASSERT(ret == 0);
#endif
DEBUGASSERT(ret == 0);
}
/****************************************************************************