sched/hrtimer: Fix some functional correctness issues.

include/nuttx/hrtimer.h

@@ -65,8 +65,8 @@ typedef struct hrtimer_node_s hrtimer_node_t;
  * timer context and must not block.
  */
 
-typedef CODE uint64_t
-(*hrtimer_cb)(FAR hrtimer_t *hrtimer, uint64_t expired);
+typedef CODE uint64_t (*hrtimer_entry_t)(FAR const hrtimer_t *hrtimer,
+                                         uint64_t expired);
 
 /* Red-black tree node used to order hrtimers by expiration time */
 
@@ -85,7 +85,7 @@ struct hrtimer_node_s
 struct hrtimer_s
 {
   hrtimer_node_t node;   /* RB-tree node for sorted insertion */
-  hrtimer_cb func;       /* Expiration callback function */
+  hrtimer_entry_t func;  /* Expiration callback function */
   uint64_t expired;      /* Absolute expiration time (ns) */
 };
 

sched/Kconfig

@@ -2007,5 +2007,6 @@ config CUSTOM_SEMAPHORE_MAXVALUE
 config HRTIMER
 	bool "High resolution timer support"
 	default n
+	depends on SYSTEM_TIME64
 	---help---
 		Enable to support high resolution timer

sched/Makefile

@@ -43,6 +43,7 @@ include timer/Make.defs
 include tls/Make.defs
 include wdog/Make.defs
 include wqueue/Make.defs
+include hrtimer/Make.defs
 
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)sched
 

sched/hrtimer/hrtimer_cancel.c

@@ -131,9 +131,11 @@ int hrtimer_cancel(FAR hrtimer_t *hrtimer)
       hrtimer_remove(hrtimer);
     }
 
-  /* Mark timer as cancelled */
+  /* If the timer was running, increment its expiration count to prevent
+   * it from being re-armed by the callback.
+   */
 
-  hrtimer->expired = UINT64_MAX;
+  hrtimer->expired++;
 
   /* If the canceled timer was the earliest one, update the hardware timer */
 

sched/hrtimer/hrtimer_process.c

@@ -71,7 +71,7 @@ void hrtimer_process(uint64_t now)
 {
   FAR hrtimer_t *hrtimer;
   irqstate_t flags;
-  hrtimer_cb func;
+  hrtimer_entry_t func;
   uint64_t expired;
   uint64_t period;
   int cpu = this_cpu();