[components][clock_time] Refactor time subsystem around clock_time (#11111)

* [components][clock_time] Refactor time subsystem around clock_time

Introduce the clock_time core with clock source/event separation, high-resolution scheduling, and boot-time helpers, plus clock_timer adapters for timer peripherals.

Remove legacy ktime/cputime/hwtimer implementations and migrate arch and BSP time paths to the new subsystem while keeping POSIX time integration functional.

Update drivers, Kconfig/SConscript wiring, documentation, and tests; add clock_time overview docs and align naming to clock_boottime/clock_hrtimer/clock_timer.

* [components][clock_time] Use BSP-provided clock timer frequency on riscv64

* [risc-v] Use runtime clock timer frequency for tick and delays

* [bsp] Add clock timer frequency hooks for riscv64 boards

* [bsp] Update Renesas RA driver doc clock_timer link

* [bsp] Sync zynqmp-r5-axu4ev rtconfig after config refresh

* [bsp][rk3500] Update rk3500 clock configuration

* [bsp][hpmicro] Add rt_hw_us_delay hook and update board delays

* [bsp][stm32l496-st-nucleo] enable clock_time for hwtimer sample in ci

* [bsp][hpmicro] Fix rtconfig include scope for hpm6750evk

Move rtconfig.h include outside the ENET_MULTIPLE_PORT guard for hpm6750evk and hpm6750evk2 so configuration macros are available regardless of ENET settings.

* [bsp][raspi3] select clock time for systimer

* [bsp][hpm5300evk] Trim trailing blank line

* [bsp][hpm5301evklite] Trim trailing blank line

* [bsp][hpm5e00evk] Trim trailing blank line

* [bsp][hpm6200evk] Trim trailing blank line

* [bsp][hpm6300evk] Trim trailing blank line

* [bsp][hpm6750evk] Trim trailing blank line

* [bsp][hpm6750evk2] Trim trailing blank line

* [bsp][hpm6750evkmini] Trim trailing blank line

* [bsp][hpm6800evk] Trim trailing blank line

* [bsp][hpm6e00evk] Trim trailing blank line

* [bsp][nxp] switch lpc178x to gcc and remove mcx timer source

* [bsp][stm32] fix the CONFIG_RT_USING_CLOCK_TIME issue.

* [docs][clock_time] add clock time documentation

* [docs][clock_time] Update clock time subsystem documentation

- Update device driver index to use correct page reference
- Clarify upper layer responsibilities in architecture overview
- Update README to describe POSIX/libc, Soft RTC, and device driver usage
- Refine architecture diagram with improved layout and color scheme
- Remove obsolete clock_timer.md file

* [kernel][utest] Trim trailing space

* [clock_time] Fix hrtimer wrap handling

* [clock_time] fix the static rt_inline issue

* [clock_time] fix the rt_clock_hrtimer_control result issue

6 files changed, 188 insertions, 183 deletions

diff --git a/components/drivers/include/drivers/clock_time.h b/components/drivers/include/drivers/clock_time.h
new file mode 100644
index 0000000000..7374b97d00
--- /dev/null
+++ b/components/drivers/include/drivers/clock_time.h
@@ -0,0 +1,184 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-01-01     RT-Thread    Clock time subsystem
+ */
+#ifndef __CLOCK_TIME_H__
+#define __CLOCK_TIME_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <sys/time.h>
+#include <ipc/completion.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define RT_CLOCK_TIME_RESMUL (1000000ULL)
+
+#define RT_CLOCK_TIME_CAP_SOURCE (1U << 0)
+#define RT_CLOCK_TIME_CAP_EVENT  (1U << 1)
+
+struct rt_clock_time_device;
+
+struct rt_clock_time_ops
+{
+    rt_uint64_t (*get_freq)(struct rt_clock_time_device *dev);
+    rt_uint64_t (*get_counter)(struct rt_clock_time_device *dev);
+    rt_err_t (*set_timeout)(struct rt_clock_time_device *dev, rt_uint64_t delta);
+};
+
+struct rt_clock_time_device
+{
+    struct rt_device parent;
+    const struct rt_clock_time_ops *ops;
+    rt_uint64_t res_scale;
+    rt_uint8_t caps;
+};
+
+/* Clock time timer device (replacement for legacy hardware timer device) */
+typedef enum
+{
+    CLOCK_TIMER_CTRL_FREQ_SET = RT_DEVICE_CTRL_BASE(Timer) + 0x01,
+    CLOCK_TIMER_CTRL_STOP = RT_DEVICE_CTRL_BASE(Timer) + 0x02,
+    CLOCK_TIMER_CTRL_INFO_GET = RT_DEVICE_CTRL_BASE(Timer) + 0x03,
+    CLOCK_TIMER_CTRL_MODE_SET = RT_DEVICE_CTRL_BASE(Timer) + 0x04
+} rt_clock_timer_ctrl_t;
+
+typedef enum
+{
+    CLOCK_TIMER_MODE_ONESHOT = 0x01,
+    CLOCK_TIMER_MODE_PERIOD
+} rt_clock_timer_mode_t;
+
+typedef struct rt_clock_timerval
+{
+    rt_int32_t sec;
+    rt_int32_t usec;
+} rt_clock_timerval_t;
+
+#define CLOCK_TIMER_CNTMODE_UP 0x01
+#define CLOCK_TIMER_CNTMODE_DW 0x02
+
+struct rt_clock_timer_device;
+
+struct rt_clock_timer_ops
+{
+    void (*init)(struct rt_clock_timer_device *timer, rt_uint32_t state);
+    rt_err_t (*start)(struct rt_clock_timer_device *timer, rt_uint32_t cnt, rt_clock_timer_mode_t mode);
+    void (*stop)(struct rt_clock_timer_device *timer);
+    rt_uint32_t (*count_get)(struct rt_clock_timer_device *timer);
+    rt_err_t (*control)(struct rt_clock_timer_device *timer, rt_uint32_t cmd, void *args);
+};
+
+struct rt_clock_timer_info
+{
+    rt_int32_t maxfreq;
+    rt_int32_t minfreq;
+    rt_uint32_t maxcnt;
+    rt_uint8_t cntmode;
+};
+
+typedef struct rt_clock_timer_device
+{
+    struct rt_device parent;
+    const struct rt_clock_timer_ops *ops;
+    const struct rt_clock_timer_info *info;
+
+    rt_int32_t freq;
+    rt_int32_t overflow;
+    float period_sec;
+    rt_int32_t cycles;
+    rt_int32_t reload;
+    rt_clock_timer_mode_t mode;
+
+} rt_clock_timer_t;
+
+rt_err_t rt_clock_timer_register(rt_clock_timer_t *timer, const char *name, void *user_data);
+void rt_clock_timer_isr(rt_clock_timer_t *timer);
+
+#ifdef RT_USING_DM
+extern void (*rt_clock_timer_us_delay)(rt_uint32_t us);
+#endif
+
+struct rt_clock_hrtimer
+{
+    rt_uint8_t           flag;                  /**< compatible to tick timer's flag */
+    char                 name[RT_NAME_MAX];
+    rt_list_t            node;
+    void                *parameter;
+    unsigned long        delay_cnt;
+    unsigned long        timeout_cnt;
+    rt_err_t             error;
+    struct rt_completion completion;
+    void (*timeout_func)(void *parameter);
+};
+typedef struct rt_clock_hrtimer *rt_clock_hrtimer_t;
+
+rt_err_t rt_clock_time_device_register(struct rt_clock_time_device *dev, const char *name, rt_uint8_t caps);
+
+void rt_clock_time_set_default_source(struct rt_clock_time_device *dev);
+void rt_clock_time_set_default_event(struct rt_clock_time_device *dev);
+struct rt_clock_time_device *rt_clock_time_get_default_source(void);
+struct rt_clock_time_device *rt_clock_time_get_default_event(void);
+
+void rt_clock_time_source_init(void);
+
+rt_uint64_t rt_clock_time_get_freq(void);
+rt_uint64_t rt_clock_time_get_counter(void);
+rt_uint64_t rt_clock_time_get_res_scaled(void);
+rt_uint64_t rt_clock_time_get_event_freq(void);
+rt_uint64_t rt_clock_time_get_event_res_scaled(void);
+
+rt_uint64_t rt_clock_time_counter_to_ns(rt_uint64_t cnt);
+rt_uint64_t rt_clock_time_ns_to_counter(rt_uint64_t ns);
+
+rt_err_t rt_clock_time_set_timeout(rt_uint64_t delta);
+void rt_clock_time_event_isr(void);
+
+rt_err_t rt_clock_boottime_get_us(struct timeval *tv);
+rt_err_t rt_clock_boottime_get_s(time_t *t);
+rt_err_t rt_clock_boottime_get_ns(struct timespec *ts);
+
+rt_uint64_t rt_clock_hrtimer_getres(void);
+unsigned long rt_clock_hrtimer_getfrq(void);
+rt_err_t rt_clock_hrtimer_settimeout(unsigned long cnt);
+void     rt_clock_hrtimer_process(void);
+
+void     rt_clock_hrtimer_init(rt_clock_hrtimer_t timer,
+                                    const char        *name,
+                                    rt_uint8_t         flag,
+                                    void (*timeout)(void *parameter),
+                                    void *parameter);
+rt_err_t rt_clock_hrtimer_start(rt_clock_hrtimer_t timer, unsigned long cnt);
+rt_err_t rt_clock_hrtimer_stop(rt_clock_hrtimer_t timer);
+rt_err_t rt_clock_hrtimer_control(rt_clock_hrtimer_t timer, int cmd, void *arg);
+rt_err_t rt_clock_hrtimer_detach(rt_clock_hrtimer_t timer);
+
+rt_inline void rt_clock_hrtimer_keep_errno(rt_clock_hrtimer_t timer, rt_err_t err)
+{
+    RT_ASSERT(timer != RT_NULL);
+
+    timer->error = err;
+    rt_set_errno(-err);
+}
+
+void rt_clock_hrtimer_delay_init(struct rt_clock_hrtimer *timer);
+void rt_clock_hrtimer_delay_detach(struct rt_clock_hrtimer *timer);
+void rt_clock_hrtimer_process(void);
+
+rt_err_t rt_clock_hrtimer_sleep(struct rt_clock_hrtimer *timer, unsigned long cnt);
+rt_err_t rt_clock_hrtimer_ndelay(struct rt_clock_hrtimer *timer, unsigned long ns);
+rt_err_t rt_clock_hrtimer_udelay(struct rt_clock_hrtimer *timer, unsigned long us);
+rt_err_t rt_clock_hrtimer_mdelay(struct rt_clock_hrtimer *timer, unsigned long ms);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CLOCK_TIME_H__ */
diff --git a/components/drivers/include/drivers/core/master_id.h b/components/drivers/include/drivers/core/master_id.h
index 5bf9e611cb..99b1b09856 100644
--- a/components/drivers/include/drivers/core/master_id.h
+++ b/components/drivers/include/drivers/core/master_id.h
@@ -26,7 +26,7 @@
 #define MASTER_ID_SERIAL                                13
 
 /* Clock Timer */
-#define MASTER_ID_HWTIMER                               21
+#define MASTER_ID_CLOCK_TIMER                           21
 #define MASTER_ID_PTP                                   22
 #define MASTER_ID_RTC                                   23
 
diff --git a/components/drivers/include/drivers/cputime.h b/components/drivers/include/drivers/cputime.h
deleted file mode 100644
index 478ccfd019..0000000000
--- a/components/drivers/include/drivers/cputime.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Copyright (c) 2006-2023, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author            Notes
- * 2017-12-23     Bernard           first version
- */
-
-#ifndef CPUTIME_H__
-#define CPUTIME_H__
-
-#include <stdint.h>
-#include "cputimer.h"
-
-struct rt_clock_cputime_ops
-{
-    uint64_t (*cputime_getres)(void);
-    uint64_t (*cputime_gettime)(void);
-    int (*cputime_settimeout)(uint64_t tick, void (*timeout)(void *param), void *param);
-};
-
-uint64_t clock_cpu_getres(void);
-uint64_t clock_cpu_gettime(void);
-int clock_cpu_settimeout(uint64_t tick, void (*timeout)(void *param), void *param);
-int clock_cpu_issettimeout(void);
-
-uint64_t clock_cpu_microsecond(uint64_t cpu_tick);
-uint64_t clock_cpu_millisecond(uint64_t cpu_tick);
-
-int clock_cpu_setops(const struct rt_clock_cputime_ops *ops);
-
-#ifdef RT_USING_CPUTIME_RISCV
-int riscv_cputime_init(void);
-#endif /* RT_USING_CPUTIME_RISCV */
-
-#endif
diff --git a/components/drivers/include/drivers/cputimer.h b/components/drivers/include/drivers/cputimer.h
deleted file mode 100644
index 371992a41e..0000000000
--- a/components/drivers/include/drivers/cputimer.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * 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
- */
-
-#ifndef CPUTIMER_H__
-#define CPUTIMER_H__
-
-#include <rtthread.h>
-
-struct rt_cputimer
-{
-    struct rt_object parent; /**< inherit from rt_object */
-    rt_list_t row;
-    void (*timeout_func)(void *parameter);
-    void *parameter;
-    rt_uint64_t init_tick;
-    rt_uint64_t timeout_tick;
-    struct rt_semaphore sem;
-};
-typedef struct rt_cputimer *rt_cputimer_t;
-
-rt_err_t rt_cputimer_detach(rt_cputimer_t timer);
-
-#ifdef RT_USING_HEAP
-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);
-rt_err_t rt_cputimer_delete(rt_cputimer_t timer);
-#endif
-
-rt_err_t rt_cputimer_start(rt_cputimer_t timer);
-rt_err_t rt_cputimer_stop(rt_cputimer_t timer);
-rt_err_t rt_cputimer_control(rt_cputimer_t timer, int cmd, void *arg);
-rt_err_t rt_cputime_sleep(rt_uint64_t tick);
-rt_err_t rt_cputime_ndelay(rt_uint64_t ns);
-rt_err_t rt_cputime_udelay(rt_uint64_t us);
-rt_err_t rt_cputime_mdelay(rt_uint64_t ms);
-
-#endif
diff --git a/components/drivers/include/drivers/hwtimer.h b/components/drivers/include/drivers/hwtimer.h
deleted file mode 100644
index 6f11ff2c54..0000000000
--- a/components/drivers/include/drivers/hwtimer.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (c) 2006-2023, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- */
-#ifndef __HWTIMER_H__
-#define __HWTIMER_H__
-
-#include <rtthread.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Timer Control Command */
-typedef enum
-{
-    HWTIMER_CTRL_FREQ_SET = RT_DEVICE_CTRL_BASE(Timer) + 0x01,           /* set the count frequency */
-    HWTIMER_CTRL_STOP = RT_DEVICE_CTRL_BASE(Timer) + 0x02,               /* stop timer */
-    HWTIMER_CTRL_INFO_GET = RT_DEVICE_CTRL_BASE(Timer) + 0x03,           /* get a timer feature information */
-    HWTIMER_CTRL_MODE_SET = RT_DEVICE_CTRL_BASE(Timer) + 0x04            /* Setting the timing mode(oneshot/period) */
-} rt_hwtimer_ctrl_t;
-
-/* Timing Mode */
-typedef enum
-{
-    HWTIMER_MODE_ONESHOT = 0x01,
-    HWTIMER_MODE_PERIOD
-} rt_hwtimer_mode_t;
-
-/* Time Value */
-typedef struct rt_hwtimerval
-{
-    rt_int32_t sec;      /* second */
-    rt_int32_t usec;     /* microsecond */
-} rt_hwtimerval_t;
-
-#define HWTIMER_CNTMODE_UP      0x01 /* increment count mode */
-#define HWTIMER_CNTMODE_DW      0x02 /* decreasing count mode */
-
-struct rt_hwtimer_device;
-
-struct rt_hwtimer_ops
-{
-    void (*init)(struct rt_hwtimer_device *timer, rt_uint32_t state);
-    rt_err_t (*start)(struct rt_hwtimer_device *timer, rt_uint32_t cnt, rt_hwtimer_mode_t mode);
-    void (*stop)(struct rt_hwtimer_device *timer);
-    rt_uint32_t (*count_get)(struct rt_hwtimer_device *timer);
-    rt_err_t (*control)(struct rt_hwtimer_device *timer, rt_uint32_t cmd, void *args);
-};
-
-/* Timer Feature Information */
-struct rt_hwtimer_info
-{
-    rt_int32_t maxfreq;    /* the maximum count frequency timer support */
-    rt_int32_t minfreq;    /* the minimum count frequency timer support */
-    rt_uint32_t maxcnt;    /* counter maximum value */
-    rt_uint8_t  cntmode;   /* count mode (inc/dec) */
-};
-
-typedef struct rt_hwtimer_device
-{
-    struct rt_device parent;
-    const struct rt_hwtimer_ops *ops;
-    const struct rt_hwtimer_info *info;
-
-    rt_int32_t freq;                /* counting frequency set by the user */
-    rt_int32_t overflow;            /* timer overflows */
-    float period_sec;
-    rt_int32_t cycles;              /* how many times will generate a timeout event after overflow */
-    rt_int32_t reload;              /* reload cycles(using in period mode) */
-    rt_hwtimer_mode_t mode;         /* timing mode(oneshot/period) */
-} rt_hwtimer_t;
-
-rt_err_t rt_device_hwtimer_register(rt_hwtimer_t *timer, const char *name, void *user_data);
-void rt_device_hwtimer_isr(rt_hwtimer_t *timer);
-
-#ifdef RT_USING_DM
-extern void (*rt_device_hwtimer_us_delay)(rt_uint32_t us);
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index 50a97beee5..c3a1277449 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -242,18 +242,14 @@ extern "C" {
 #include "drivers/dev_can.h"
 #endif /* RT_USING_CAN */
 
-#ifdef RT_USING_HWTIMER
-#include "drivers/hwtimer.h"
-#endif /* RT_USING_HWTIMER */
+#ifdef RT_USING_CLOCK_TIME
+#include "drivers/clock_time.h"
+#endif /* RT_USING_CLOCK_TIME */
 
 #ifdef RT_USING_AUDIO
 #include "drivers/dev_audio.h"
 #endif /* RT_USING_AUDIO */
 
-#ifdef RT_USING_CPUTIME
-#include "drivers/cputime.h"
-#endif /* RT_USING_CPUTIME */
-
 #ifdef RT_USING_ADC
 #include "drivers/adc.h"
 #endif /* RT_USING_ADC */