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sched/hrtimer: add a high resolution timer module in sched and tricore porting to support hard real time cases #17065

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sched/hrtimer: add a high resolution timer module in sched and tricore porting to support hard real time cases #17065

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5 changes: 3 additions & 2 deletions arch/tricore/src/common/tricore_internal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -241,8 +241,9 @@ void tricore_earlyserialinit(void);

/* System Timer *************************************************************/

struct oneshot_lowerhalf_s *
tricore_systimer_initialize(volatile void *tbase, int irq, uint64_t freq);
void tricore_systimer_initialize(volatile void *tbase,
int irq,
uint64_t freq);

/* Debug ********************************************************************/

Expand Down
50 changes: 47 additions & 3 deletions arch/tricore/src/common/tricore_systimer.c
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Expand Up @@ -28,6 +28,7 @@
#include <nuttx/kmalloc.h>

#include <nuttx/timers/oneshot.h>
#include <nuttx/hrtimer.h>
#include <nuttx/timers/arch_alarm.h>

#include "tricore_internal.h"
Expand All @@ -47,6 +48,7 @@ struct tricore_systimer_lowerhalf_s
{
struct oneshot_lowerhalf_s lower;
volatile void *tbase;
int irq;
uint64_t freq;
uint64_t alarm;
oneshot_callback_t callback;
Expand Down Expand Up @@ -332,13 +334,21 @@ tricore_systimer_tick_start(struct oneshot_lowerhalf_s *lower,

static int tricore_systimer_interrupt(int irq, void *context, void *arg)
{
#ifdef CONFIG_HRTIMER
(void)irq;
(void)context;
(void)arg;

hrtimer_upper_process(&g_default_hrtimer_upperhalf);
#else
struct tricore_systimer_lowerhalf_s *priv = arg;

tricore_systimer_set_timecmp(priv, UINT64_MAX);
if (priv->callback != NULL)
{
priv->callback(&priv->lower, priv->arg);
}
#endif

return 0;
}
Expand All @@ -356,13 +366,15 @@ static int tricore_systimer_interrupt(int irq, void *context, void *arg)
*
****************************************************************************/

struct oneshot_lowerhalf_s *
tricore_systimer_initialize(volatile void *tbase, int irq, uint64_t freq)
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@GUIDINGLI GUIDINGLI Sep 28, 2025

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why remove the return oneshot_lowerhalf_s, if so, this timer can only used for system tick, can't for others, like
cpuload in nxsched_oneshot_extclk()

void tricore_systimer_initialize(volatile void *tbase,
int irq,
uint64_t freq)
{
struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;

priv->tbase = tbase;
priv->freq = freq;
priv->irq = irq;
spin_lock_init(&priv->lock);

IfxStm_setCompareControl(tbase,
Expand All @@ -376,7 +388,39 @@ tricore_systimer_initialize(volatile void *tbase, int irq, uint64_t freq)
IfxStm_enableComparatorInterrupt(tbase, IfxStm_Comparator_0);

irq_attach(irq, tricore_systimer_interrupt, priv);

up_alarm_set_lowerhalf((struct oneshot_lowerhalf_s *)priv);
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xiaoxiang781216 marked this conversation as resolved.

#ifdef CONFIG_HRTIMER
hrtimer_upper_start(&g_default_hrtimer_upperhalf,
HRTIMER_CLOCK_ALARM);
#endif
up_enable_irq(irq);
}

int up_alarm_start(const struct timespec *ts)
{
struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;
uint64_t mtime = ts->tv_sec * priv->freq +
ts->tv_nsec * priv->freq / NSEC_PER_SEC;

IfxStm_updateCompare(priv->tbase, IfxStm_Comparator_0, mtime);
up_enable_irq(priv->irq);
}

int up_alarm_gettime(FAR struct timespec *ts)
{
struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;
uint64_t mtime = IfxStm_get(priv->tbase);
uint64_t nsecs = mtime * NSEC_PER_SEC / priv->freq;

ts->tv_sec = nsecs / NSEC_PER_SEC;
ts->tv_nsec = nsecs % NSEC_PER_SEC;
}

int up_alarm_trigger(void)
{
struct tricore_systimer_lowerhalf_s *priv = &g_systimer_lower;

return (struct oneshot_lowerhalf_s *)priv;
up_trigger_irq(priv->irq, 0);
}
8 changes: 1 addition & 7 deletions arch/tricore/src/tc3xx/tc3xx_timerisr.c
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Expand Up @@ -55,11 +55,5 @@

void up_timer_initialize(void)
{
struct oneshot_lowerhalf_s *lower;

lower = tricore_systimer_initialize(&MODULE_STM0, 192, SCU_FREQUENCY);

DEBUGASSERT(lower != NULL);

up_alarm_set_lowerhalf(lower);
tricore_systimer_initialize(&MODULE_STM0, 192, SCU_FREQUENCY);
}
1 change: 1 addition & 0 deletions boards/tricore/tc397/a2g-tc397-5v-tft/configs/nsh/defconfig
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Expand Up @@ -53,3 +53,4 @@ CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y
CONFIG_SCHED_EVENTS=y
CONFIG_HRTIMER=y
15 changes: 9 additions & 6 deletions drivers/timers/arch_alarm.c
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Expand Up @@ -139,19 +139,22 @@ static void oneshot_callback(FAR struct oneshot_lowerhalf_s *lower,

void up_alarm_set_lowerhalf(FAR struct oneshot_lowerhalf_s *lower)
{
#ifdef CONFIG_SCHED_TICKLESS
#ifdef CONFIG_HRTIMER
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@GUIDINGLI GUIDINGLI Sep 28, 2025

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HRtimer and wdog, these two should exist in a coexisting relationship rather than an either-or one.

How about provide a framework:
Keep the underlying driver unchanged, reuse a hardware timer, and add the hrtimer processing flow in arch_alarm/arch_timer/wdog

g_oneshot_lower = lower;
#else
# ifdef CONFIG_SCHED_TICKLESS
clock_t ticks = 0;
#endif

# endif
g_oneshot_lower = lower;

#ifdef CONFIG_SCHED_TICKLESS
# ifdef CONFIG_SCHED_TICKLESS
ONESHOT_TICK_MAX_DELAY(g_oneshot_lower, &ticks);
g_oneshot_maxticks = ticks < UINT32_MAX ? ticks : UINT32_MAX;
#else
# else
ONESHOT_TICK_CURRENT(g_oneshot_lower, &g_current_tick);
ONESHOT_TICK_START(g_oneshot_lower, oneshot_callback, NULL, 1);
#endif
# endif
#endif /* CONFIG_HRTIMER */
}

/****************************************************************************
Expand Down
118 changes: 99 additions & 19 deletions include/nuttx/arch.h
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Expand Up @@ -1932,6 +1932,88 @@ int up_timer_gettime(FAR struct timespec *ts);
int up_timer_gettick(FAR clock_t *ticks);
void up_timer_getmask(FAR clock_t *mask);

/****************************************************************************
* Name: up_alarm_gettime
*
* Description:
* Return the current time according to the underlying high-resolution
* alarm timer. This is the time base used by the alarm hardware.
*
* Provided by platform-specific code and called from the RTOS base code.
*
* Input Parameters:
* ts - Location to return the current time. Must not be NULL.
*
* Returned Value:
* Zero (OK) is returned on success. A negated errno value is returned on
* any failure.
*
* Assumptions:
* May be called from interrupt level handling or from the normal tasking
* level.
*
****************************************************************************/

#if (defined(CONFIG_HRTIMER) && defined(CONFIG_ALARM_ARCH))
int up_alarm_gettime(FAR struct timespec *ts);
int up_alarm_gettick(FAR clock_t *ticks);
#endif

/****************************************************************************
* Name: up_alarm_trigger
*
* Description:
* Force the expiration of the alarm immediately, causing the alarm
* handler nxsched_alarm_expiration() to be invoked as soon as possible.
*
* Provided by platform-specific code and called from the RTOS base code.
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success. A negated errno value is returned on
* any failure.
*
* Assumptions:
* May be called from interrupt level handling or from the normal tasking
* level. Interrupts may need to be disabled internally to assure
* non-reentrancy.
*
****************************************************************************/

#if (defined(CONFIG_HRTIMER) && defined(CONFIG_ALARM_ARCH))
int up_alarm_trigger(void);
#endif

/****************************************************************************
* Name: up_timer_trigger
*
* Description:
* Force the expiration of the interval timer immediately, causing the
* system tick or equivalent timer handler to be invoked as soon as
* possible. This is typically used for testing or debugging purposes.
*
* Provided by platform-specific code and called from the RTOS base code.
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success. A negated errno value is returned on
* any failure.
*
* Assumptions:
* May be called from interrupt level handling or from the normal tasking
* level. Interrupts may need to be disabled internally to assure
* non-reentrancy.
*
****************************************************************************/

#if (defined(CONFIG_HRTIMER) && defined(CONFIG_TIMER_ARCH))
int up_timer_trigger(void);
#endif

/****************************************************************************
* Name: up_alarm_cancel
*
Expand Down Expand Up @@ -1966,12 +2048,12 @@ void up_timer_getmask(FAR clock_t *mask);
*
****************************************************************************/

#if defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM)
# ifndef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
#if (defined(CONFIG_HRTIMER) && defined(CONFIG_ALARM_ARCH)) || \
(defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM))
int up_alarm_cancel(FAR struct timespec *ts);
# else
#ifdef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
int up_alarm_tick_cancel(FAR clock_t *ticks);
# endif
# endif
#endif

/****************************************************************************
Expand Down Expand Up @@ -1999,12 +2081,12 @@ int up_alarm_tick_cancel(FAR clock_t *ticks);
*
****************************************************************************/

#if defined(CONFIG_SCHED_TICKLESS) && defined(CONFIG_SCHED_TICKLESS_ALARM)
# ifndef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
#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);
# else
#ifdef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
int up_alarm_tick_start(clock_t ticks);
# endif
# endif
#endif

/****************************************************************************
Expand Down Expand Up @@ -2043,12 +2125,12 @@ int up_alarm_tick_start(clock_t ticks);
*
****************************************************************************/

#if defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM)
# ifndef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
#if (defined(CONFIG_HRTIMER) && defined(CONFIG_TIMER_ARCH)) || \
(defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM))
int up_timer_cancel(FAR struct timespec *ts);
# else
#ifdef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
int up_timer_tick_cancel(FAR clock_t *ticks);
# endif
#endif
#endif

/****************************************************************************
Expand All @@ -2075,15 +2157,13 @@ int up_timer_tick_cancel(FAR clock_t *ticks);
* non-reentrancy.
*
****************************************************************************/

#if defined(CONFIG_SCHED_TICKLESS) && !defined(CONFIG_SCHED_TICKLESS_ALARM)
# ifndef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
#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);
# else
int up_timer_tick_start(clock_t ticks);
# endif
#ifdef CONFIG_SCHED_TICKLESS_TICK_ARGUMENT
int up_timer_tick_start(FAR clock_t *ticks);
#endif
#endif

/****************************************************************************
* Name: up_getsp
*
Expand Down
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