Add SCHED_INSTRUMENTATION_HIRES support

Documentation/guides/tasktraceuser.rst

@@ -53,6 +53,10 @@ The following configurations are configurable parameters for trace.
   - If enabled, stop overwriting old notes in the circular buffer when the buffer is full by default.
     This is useful to keep instrumentation data of the beginning of a system boot.
 
+- ``CONFIG_SCHED_INSTRUMENTATION_HIRES``
+
+  - If enabled, use higher resolution system timer for instrumentation.
+
 After the configuration, rebuild the NuttX kernel and application.
 
 If the trace function is enabled, "``trace``" :doc:`../components/nsh/builtin` will be available.

include/nuttx/sched_note.h

@@ -160,7 +160,13 @@ struct note_common_s
   uint8_t nc_cpu;              /* CPU thread/task running on */
 #endif
   uint8_t nc_pid[2];           /* ID of the thread/task */
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION_HIRES
+  uint8_t nc_systime_sec[4];   /* Time when note was buffered (sec) */
+  uint8_t nc_systime_nsec[4];  /* Time when note was buffered (nsec) */
+#else
   uint8_t nc_systime[4];       /* Time when note was buffered */
+#endif
 };
 
 /* This is the specific form of the NOTE_START note */

sched/Kconfig

@@ -990,6 +990,12 @@ config SCHED_INSTRUMENTATION_IRQHANDLER
 
 			void sched_note_irqhandler(int irq, FAR void *handler, bool enter);
 
+config SCHED_INSTRUMENTATION_HIRES
+	bool "Use Hi-Res RTC for instrumentation"
+	default n
+	---help---
+		Use higher resolution system timer for instrumentation.
+
 config SCHED_INSTRUMENTATION_FILTER
 	bool "Instrumenation filter"
 	default n

sched/sched/sched_note.c

@@ -29,6 +29,7 @@
 #include <string.h>
 #include <assert.h>
 #include <errno.h>
+#include <time.h>
 
 #include <nuttx/irq.h>
 #include <nuttx/sched.h>
@@ -117,7 +118,13 @@ static void note_common(FAR struct tcb_s *tcb,
                         FAR struct note_common_s *note,
                         uint8_t length, uint8_t type)
 {
+#ifdef CONFIG_SCHED_INSTRUMENTATION_HIRES
+  struct timespec ts;
+
+  clock_systime_timespec(&ts);
+#else
   uint32_t systime    = (uint32_t)clock_systime_ticks();
+#endif
 
   /* Save all of the common fields */
 
@@ -130,12 +137,23 @@ static void note_common(FAR struct tcb_s *tcb,
   note->nc_pid[0]     = (uint8_t)(tcb->pid & 0xff);
   note->nc_pid[1]     = (uint8_t)((tcb->pid >> 8) & 0xff);
 
+#ifdef CONFIG_SCHED_INSTRUMENTATION_HIRES
+  note->nc_systime_nsec[0] = (uint8_t)(ts.tv_nsec         & 0xff);
+  note->nc_systime_nsec[1] = (uint8_t)((ts.tv_nsec >> 8)  & 0xff);
+  note->nc_systime_nsec[2] = (uint8_t)((ts.tv_nsec >> 16) & 0xff);
+  note->nc_systime_nsec[3] = (uint8_t)((ts.tv_nsec >> 24) & 0xff);
+  note->nc_systime_sec[0] = (uint8_t)(ts.tv_sec         & 0xff);
+  note->nc_systime_sec[1] = (uint8_t)((ts.tv_sec >> 8)  & 0xff);
+  note->nc_systime_sec[2] = (uint8_t)((ts.tv_sec >> 16) & 0xff);
+  note->nc_systime_sec[3] = (uint8_t)((ts.tv_sec >> 24) & 0xff);
+#else
   /* Save the LS 32-bits of the system timer in little endian order */
 
   note->nc_systime[0] = (uint8_t)(systime         & 0xff);
   note->nc_systime[1] = (uint8_t)((systime >> 8)  & 0xff);
   note->nc_systime[2] = (uint8_t)((systime >> 16) & 0xff);
   note->nc_systime[3] = (uint8_t)((systime >> 24) & 0xff);
+#endif
 }
 
 /****************************************************************************