Improve timer accuracy and realize (#6926)

* add cputimer frame

* add cputime sleep

* ctime use cputime

* Processing cputime has no timeout function

* Migration cputime Code

* formatting file

* 整理代码

* add document copyright information

* 改 cputime_timer 为 cputimer

* 简化 _cputimer_list 初始化

* rt_cputimer_create -> rt_cputimer_init

* Remove RT_USING_CPUTIME and code cleanup.

* Remove RT_USING_CPUTIME in cputimer.c
* Set set_next_timeout as static function.

---------

Co-authored-by: Bernard Xiong <[email protected]>

3 files changed, 396 insertions, 0 deletions

diff --git a/components/drivers/cputime/SConscript b/components/drivers/cputime/SConscript
index e1b447e16b..9fec4641e5 100644
--- a/components/drivers/cputime/SConscript
+++ b/components/drivers/cputime/SConscript
@@ -4,6 +4,7 @@ cwd     = GetCurrentDir()
 CPPPATH = [cwd + '/../include']
 src     = Split('''
 cputime.c
+cputimer.c
 ''')
 
 if GetDepend('RT_USING_CPUTIME_CORTEXM'):
diff --git a/components/drivers/cputime/cputime.c b/components/drivers/cputime/cputime.c
index 97fbc328fe..d87e39199c 100644
--- a/components/drivers/cputime/cputime.c
+++ b/components/drivers/cputime/cputime.c
@@ -61,6 +61,13 @@ int clock_cpu_settimeout(uint64_t tick, void (*timeout)(void *param), void *para
     return 0;
 }
 
+int clock_cpu_issettimeout(void)
+{
+    if (_cputime_ops)
+        return _cputime_ops->cputime_settimeout != RT_NULL;
+    return RT_FALSE;
+}
+
 /**
  * The clock_cpu_microsecond() fucntion shall return the microsecond according to
  * cpu_tick parameter.
diff --git a/components/drivers/cputime/cputimer.c b/components/drivers/cputime/cputimer.c
new file mode 100644
index 0000000000..27e64a1354
--- /dev/null
+++ b/components/drivers/cputime/cputimer.c
@@ -0,0 +1,388 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2023-02-13     zhkag           first version
+ */
+
+#include <rtthread.h>
+#include <rthw.h>
+#include <rtdevice.h>
+
+static rt_list_t _cputimer_list = RT_LIST_OBJECT_INIT(_cputimer_list);
+
+static void _cputime_timeout(void *parameter)
+{
+    struct rt_cputimer *timer;
+    timer = (struct rt_cputimer *)parameter;
+    timer->timeout_func(timer->parameter);
+    rt_list_remove(&timer->row);
+
+    if (&_cputimer_list != _cputimer_list.prev)
+    {
+        struct rt_cputimer *t;
+        t = rt_list_entry(_cputimer_list.next, struct rt_cputimer, row);
+        clock_cpu_settimeout(t->timeout_tick, _cputime_timeout, t);
+    }
+    else
+        clock_cpu_settimeout(RT_NULL, RT_NULL, RT_NULL);
+    if ((timer->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
+        (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED))
+    {
+        /* start it */
+        timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+        rt_cputimer_start(timer);
+    }
+}
+
+void rt_cputimer_init(rt_cputimer_t timer,
+                      const char *name,
+                      void (*timeout)(void *parameter),
+                      void *parameter,
+                      rt_uint64_t tick,
+                      rt_uint8_t flag)
+{
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(timeout != RT_NULL);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* timer object initialization */
+    rt_object_init(&(timer->parent), RT_Object_Class_Timer, name);
+
+    /* set flag */
+    timer->parent.flag = flag;
+
+    /* set deactivated */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    timer->timeout_func = timeout;
+    timer->parameter = parameter;
+
+    timer->timeout_tick = 0;
+    timer->init_tick = tick;
+    rt_list_init(&(timer->row));
+}
+
+static void _set_next_timeout()
+{
+    struct rt_cputimer *t;
+    if (&_cputimer_list != _cputimer_list.prev)
+    {
+        t = rt_list_entry((&_cputimer_list)->next, struct rt_cputimer, row);
+        clock_cpu_settimeout(t->timeout_tick, _cputime_timeout, t);
+    }
+    else
+        clock_cpu_settimeout(RT_NULL, RT_NULL, RT_NULL);
+}
+
+rt_err_t rt_cputimer_delete(rt_cputimer_t timer)
+{
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
+    RT_ASSERT(rt_object_is_systemobject(&timer->parent) == RT_FALSE);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    rt_list_remove(&timer->row);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    rt_object_delete(&(timer->parent));
+    _set_next_timeout();
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_start(rt_cputimer_t timer)
+{
+    rt_list_t *timer_list;
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* stop timer firstly */
+    level = rt_hw_interrupt_disable();
+    /* remove timer from list */
+
+    rt_list_remove(&timer->row);
+    /* change status of timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    timer->timeout_tick = clock_cpu_gettime() + timer->init_tick;
+
+    timer_list = &_cputimer_list;
+
+    for (; timer_list != _cputimer_list.prev;
+         timer_list = timer_list->next)
+    {
+        struct rt_cputimer *t;
+        rt_list_t *p = timer_list->next;
+
+        t = rt_list_entry(p, struct rt_cputimer, row);
+
+        if ((t->timeout_tick - timer->timeout_tick) == 0)
+        {
+            continue;
+        }
+        else if ((t->timeout_tick - timer->timeout_tick) < 0x7fffffffffffffff)
+        {
+            break;
+        }
+    }
+
+    rt_list_insert_after(timer_list, &(timer->row));
+
+    timer->parent.flag |= RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_stop(rt_cputimer_t timer)
+{
+    rt_base_t level;
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    /* timer check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    if (!(timer->parent.flag & RT_TIMER_FLAG_ACTIVATED))
+    {
+        rt_hw_interrupt_enable(level);
+        return -RT_ERROR;
+    }
+
+    rt_list_remove(&timer->row);
+    /* change status */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_control(rt_cputimer_t timer, int cmd, void *arg)
+{
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    level = rt_hw_interrupt_disable();
+    switch (cmd)
+    {
+    case RT_TIMER_CTRL_GET_TIME:
+        *(rt_uint64_t *)arg = timer->init_tick;
+        break;
+
+    case RT_TIMER_CTRL_SET_TIME:
+        RT_ASSERT((*(rt_uint64_t *)arg) < 0x7fffffffffffffff);
+        timer->init_tick = *(rt_uint64_t *)arg;
+        break;
+
+    case RT_TIMER_CTRL_SET_ONESHOT:
+        timer->parent.flag &= ~RT_TIMER_FLAG_PERIODIC;
+        break;
+
+    case RT_TIMER_CTRL_SET_PERIODIC:
+        timer->parent.flag |= RT_TIMER_FLAG_PERIODIC;
+        break;
+
+    case RT_TIMER_CTRL_GET_STATE:
+        if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
+        {
+            /*timer is start and run*/
+            *(rt_uint32_t *)arg = RT_TIMER_FLAG_ACTIVATED;
+        }
+        else
+        {
+            /*timer is stop*/
+            *(rt_uint32_t *)arg = RT_TIMER_FLAG_DEACTIVATED;
+        }
+        break;
+
+    case RT_TIMER_CTRL_GET_REMAIN_TIME:
+        *(rt_uint64_t *)arg = timer->timeout_tick;
+        break;
+    case RT_TIMER_CTRL_GET_FUNC:
+        arg = (void *)timer->timeout_func;
+        break;
+
+    case RT_TIMER_CTRL_SET_FUNC:
+        timer->timeout_func = (void (*)(void *))arg;
+        break;
+
+    case RT_TIMER_CTRL_GET_PARM:
+        *(void **)arg = timer->parameter;
+        break;
+
+    case RT_TIMER_CTRL_SET_PARM:
+        timer->parameter = arg;
+        break;
+
+    default:
+        break;
+    }
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_detach(rt_cputimer_t timer)
+{
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
+    RT_ASSERT(rt_object_is_systemobject(&timer->parent));
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    rt_list_remove(&timer->row);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    rt_object_detach(&(timer->parent));
+
+    return RT_EOK;
+}
+
+static void _cputime_sleep_timeout(void *parameter)
+{
+    struct rt_thread *thread;
+    rt_base_t level;
+
+    thread = (struct rt_thread *)parameter;
+
+    /* parameter check */
+    RT_ASSERT(thread != RT_NULL);
+    RT_ASSERT((thread->stat & RT_THREAD_SUSPEND_MASK) == RT_THREAD_SUSPEND_MASK);
+    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    /* set error number */
+    thread->error = -RT_ETIMEOUT;
+
+    /* remove from suspend list */
+    rt_list_remove(&(thread->tlist));
+
+    /* insert to schedule ready list */
+    rt_schedule_insert_thread(thread);
+
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    /* do schedule */
+    rt_schedule();
+}
+
+rt_err_t rt_cputime_sleep(rt_uint64_t tick)
+{
+    rt_base_t level;
+    struct rt_thread *thread;
+    struct rt_cputimer cputimer;
+    int err;
+
+    if (!clock_cpu_issettimeout())
+    {
+        rt_int32_t ms = tick * clock_cpu_getres() / 1000000;
+        return rt_thread_delay(rt_tick_from_millisecond(ms));
+    }
+
+    if (tick == 0)
+    {
+        return -RT_EINVAL;
+    }
+
+    /* set to current thread */
+    thread = rt_thread_self();
+    RT_ASSERT(thread != RT_NULL);
+    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
+
+    /* current context checking */
+    RT_DEBUG_SCHEDULER_AVAILABLE(RT_TRUE);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    /* reset thread error */
+    thread->error = RT_EOK;
+
+    /* suspend thread */
+    err = rt_thread_suspend_with_flag(thread, RT_INTERRUPTIBLE);
+
+    /* reset the timeout of thread timer and start it */
+    if (err == RT_EOK)
+    {
+        rt_cputimer_init(&cputimer, "cputime_sleep", _cputime_sleep_timeout, thread, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+        rt_cputimer_control(&cputimer, RT_TIMER_CTRL_SET_TIME, &tick);
+        rt_cputimer_start(&cputimer);
+
+        /* enable interrupt */
+        rt_hw_interrupt_enable(level);
+
+        thread->error = -RT_EINTR;
+
+        rt_schedule();
+        rt_cputimer_detach(&cputimer);
+        if (thread->error == -RT_ETIMEOUT)
+            thread->error = RT_EOK;
+    }
+    else
+    {
+        rt_hw_interrupt_enable(level);
+    }
+
+    return err;
+}
+
+rt_err_t rt_cputime_ndelay(rt_uint64_t ns)
+{
+    double unit = clock_cpu_getres();
+    return rt_cputime_sleep(ns / unit);
+}
+
+rt_err_t rt_cputime_udelay(rt_uint64_t us)
+{
+    return rt_cputime_ndelay(us * 1000);
+}
+
+rt_err_t rt_cputime_mdelay(rt_uint64_t ms)
+{
+    return rt_cputime_ndelay(ms * 1000000);
+}