sched/sched: Support wdog/scheduler hrtimer.

This commit supported wdog/scheduler hrtimer with
tickless enabled.

Signed-off-by: ouyangxiangzhen <[email protected]>

Author: Fix-Point

sched/sched/sched_processtimer.c

@@ -43,6 +43,7 @@
 
 #include "sched/sched.h"
 #include "wdog/wdog.h"
+#include "hrtimer/hrtimer.h"
 #include "clock/clock.h"
 
 /****************************************************************************
@@ -176,6 +177,8 @@ static inline void nxsched_process_scheduler(void)
 
 void nxsched_process_timer(void)
 {
+  clock_t ticks;
+
 #ifdef CONFIG_CLOCK_TIMEKEEPING
   /* Process wall time */
 
@@ -194,7 +197,13 @@ void nxsched_process_timer(void)
 
   /* Process watchdogs */
 
-  wd_timer(clock_systime_ticks());
+  ticks = clock_systime_ticks();
+
+#ifdef CONFIG_HRTIMER
+  hrtimer_expiry_tick(ticks, false);
+#endif
+
+  wd_timer(ticks);
 
 #ifdef CONFIG_SYSTEMTICK_HOOK
   /* Call out to a user-provided function in order to perform board-specific,

sched/sched/sched_timerexpiration.c

@@ -39,6 +39,7 @@
 
 #include "sched/sched.h"
 #include "wdog/wdog.h"
+#include "hrtimer/hrtimer.h"
 #include "clock/clock.h"
 
 #ifdef CONFIG_CLOCK_TIMEKEEPING
@@ -80,7 +81,8 @@ static clock_t nxsched_process_scheduler(clock_t ticks, clock_t elapsed,
                                          bool noswitches);
 static clock_t nxsched_timer_process(clock_t ticks, clock_t elapsed,
                                      bool noswitches);
-static clock_t nxsched_timer_start(clock_t ticks, clock_t interval);
+static inline_function
+clock_t nxsched_timer_update(clock_t ticks, bool noswitches);
 
 /****************************************************************************
  * Private Data
@@ -104,6 +106,10 @@ static atomic_t g_timer_interval;
 static unsigned int g_timernested;
 #endif
 
+#ifdef CONFIG_HRTIMER
+static hrtimer_t g_hrtimer_sched;
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -164,7 +170,51 @@ int up_timer_gettick(FAR clock_t *ticks)
 }
 #endif
 
-#ifdef CONFIG_SCHED_TICKLESS_ALARM
+#ifdef CONFIG_HRTIMER
+static uint64_t nxsched_hrtimer_expiration(void *args, uint64_t expired)
+{
+  uint64_t   next_delay = 0u;
+  clock_t    ticks      = div_const(expired, NSEC_PER_TICK);
+  irqstate_t flags;
+  clock_t    interval;
+
+  /* Process the wdog and scheduler. */
+
+  flags = enter_critical_section();
+  g_timernested++;
+
+  interval = nxsched_timer_update(ticks, false);
+
+  g_timernested--;
+  leave_critical_section(flags);
+
+  /* Calculate the next delay. */
+
+  if (interval != CLOCK_MAX)
+    {
+      interval   = adjust_next_interval(interval);
+      next_delay = interval == 0u ? 1u : interval * NSEC_PER_TICK;
+    }
+
+  return next_delay;
+}
+
+static inline_function
+int nxsched_timer_tick_start(clock_t ticks, clock_t delay)
+{
+  return hrtimer_restart_absolute(&g_hrtimer_sched,
+                        nxsched_hrtimer_expiration, NULL,
+                        (ticks + delay) * NSEC_PER_TICK);
+}
+
+static inline_function
+int nxsched_timer_tick_cancel(clock_t *ticks)
+{
+  hrtimer_cancel(&g_hrtimer_sched);
+  return up_timer_gettick(ticks);
+}
+
+#elif defined(CONFIG_SCHED_TICKLESS_ALARM)
 static inline_function
 int nxsched_timer_tick_start(clock_t ticks, clock_t delay)
 {
@@ -474,6 +524,7 @@ clock_t nxsched_timer_update(clock_t ticks, bool noswitches)
  *
  ****************************************************************************/
 
+#ifndef CONFIG_HRTIMER
 void nxsched_timer_expiration(void)
 {
   irqstate_t flags;
@@ -495,6 +546,12 @@ void nxsched_timer_expiration(void)
 
   leave_critical_section(flags);
 }
+#else
+void nxsched_timer_expiration(void)
+{
+  hrtimer_expiry(clock_systime_nsec(), false);
+}
+#endif
 
 /****************************************************************************
  * Name:  nxsched_reassess_timer