sched/hrtimer: fix hrtimer regression introduced by recent update and add support for tickless with hrtimer #18174
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Jan 27, 2026
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>
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Add support for running the OS in tickless mode with hrtimer, allowing the scheduler to operate without periodic ticks while maintaining high-resolution timer functionality. Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
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Summary
Change1:
The hrtimer subsystem is independent of the OS scheduler tick mechanism and
tickless mode. In fact, it operates below the OS scheduler and provides
scheduler tick support through an hrtimer object. Therefore, 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.
Change2:
add support for tickless with hrtimer
Impact
Fix the in-proper update of hrtimer module, this change is isolated in hrtimer moduler
no impact to other NuttX parts.
Testing
depends on apache/nuttx-apps#3380
**ostest passed on rv-virt:smp64 with hrtimer enabled on both non-tickless and tickless node **
1. tickless mode
2. non-tickless mode