sched/sched: Add nxsched_hrtimer_start to fix hrtimer tickless support issue

    When hrtimer is enabled, the tickless scheduler should call
    nxsched_hrtimer_start to start the timer, this is because
    the tick system is support by hrtimer

Signed-off-by: Chengdong Wang <[email protected]>

Author: wangchdo

include/nuttx/arch.h

@@ -2461,6 +2461,25 @@ void up_ndelay(unsigned long nanoseconds);
  * architecture specific logic.
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: nxsched_hrtimer_start
+ *
+ * Description:
+ *   (Re)start the scheduler high-resolution timer with a new expiration
+ *   based on the specified tick interval.
+ *
+ * Input Parameters:
+ *   ticks - Number of scheduler ticks until expiration.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_HRTIMER
+int nxsched_hrtimer_start(clock_t ticks);
+#endif
+
 /****************************************************************************
  * Name: nxsched_process_timer
  *

sched/hrtimer/hrtimer.h

@@ -120,7 +120,7 @@ static inline_function
 int hrtimer_starttimer(uint64_t ns)
 {
   struct timespec ts;
-  int ret;
+  int ret = OK;
 
   /* Convert nanoseconds to timespec */
 

sched/sched/sched_timerexpiration.c

@@ -411,16 +411,20 @@ static clock_t nxsched_timer_start(clock_t ticks, clock_t interval)
       interval = interval <= (CONFIG_TIMER_ADJUST_USEC / USEC_PER_TICK) ? 0 :
                  interval - (CONFIG_TIMER_ADJUST_USEC / USEC_PER_TICK);
 
-#ifdef CONFIG_SCHED_TICKLESS_ALARM
+#ifdef CONFIG_HRTIMER
+  nxsched_hrtimer_start(ticks + interval);
+#else
+#  ifdef CONFIG_SCHED_TICKLESS_ALARM
       /* Convert the delay to a time in the future (with respect
        * to the time when last stopped the timer).
        */
 
       ret = up_alarm_tick_start(ticks + interval);
-#else
+#  else
       /* [Re-]start the interval timer */
 
       ret = up_timer_tick_start(interval);
+#  endif
 #endif
 
       if (ret < 0)