sched/hrtimer: Fixed hrtimer_starttimer.

This commit fixed the functional correctness issues in tick mode
and non-tickless alarm mode.
- In tick mode, we do not need reprogram the timer.
- In non-tickless alarm mode, the up_timer_start receive the relative time as the parameter.

Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>

sched/hrtimer/hrtimer.h

@@ -124,10 +124,10 @@ uint64_t hrtimer_gettime(void)
 }
 
 /****************************************************************************
- * Name: hrtimer_starttimer
+ * Name: hrtimer_reprogram
  *
  * Description:
- *   Start the hardware timer to expire at a specified nanosecond time.
+ *   Reprogram the hardware timer to expire at a specified nanosecond time.
  *   Converts the nanosecond time to timespec and calls the platform-specific
  *   timer start function.
  *
@@ -138,23 +138,23 @@ uint64_t hrtimer_gettime(void)
  *   OK (0) on success, negated errno on failure.
  ****************************************************************************/
 
-static inline_function
-int hrtimer_starttimer(uint64_t ns)
+static inline_function void hrtimer_reprogram(uint64_t next_expired)
 {
-  struct timespec ts;
+#ifdef CONFIG_SCHED_TICKLESS
   int ret;
-
-  /* Convert nanoseconds to timespec */
-
-  clock_nsec2time(&ts, ns);
-
-#ifdef CONFIG_ALARM_ARCH
+  struct timespec ts;
+#  ifdef CONFIG_SCHED_TICKLESS_ALARM
+  clock_nsec2time(&ts, next_expired);
   ret = up_alarm_start(&ts);
-#elif defined(CONFIG_TIMER_ARCH)
+#  else
+  struct timespec current;
+  up_timer_gettime(&current);
+  clock_nsec2time(&ts, next_expired);
+  clock_timespec_subtract(&ts, &current, &ts);
   ret = up_timer_start(&ts);
+#  endif
+  DEBUGASSERT(ret == 0);
 #endif
-
-  return ret;
 }
 
 /****************************************************************************

sched/hrtimer/hrtimer_cancel.c

@@ -143,7 +143,7 @@ int hrtimer_cancel(FAR hrtimer_t *hrtimer)
       first = hrtimer_get_first();
       if (first != NULL)
         {
-          ret = hrtimer_starttimer(first->expired);
+          hrtimer_reprogram(first->expired);
         }
     }
 

sched/hrtimer/hrtimer_process.c

@@ -155,7 +155,7 @@ void hrtimer_process(uint64_t now)
     {
       /* Start timer for the next earliest expiration */
 
-      (void)hrtimer_starttimer(hrtimer->expired);
+      hrtimer_reprogram(hrtimer->expired);
     }
 
   /* Leave critical section */

sched/hrtimer/hrtimer_start.c

@@ -103,7 +103,7 @@ int hrtimer_start(FAR hrtimer_t *hrtimer, hrtimer_entry_t func,
 
   if (hrtimer_is_first(hrtimer))
     {
-      ret = hrtimer_starttimer(hrtimer->expired);
+      hrtimer_reprogram(hrtimer->expired);
     }
 
   /* Release spinlock and restore interrupts */