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]>

1 files changed, 159 insertions, 78 deletions

diff --git a/components/libc/compilers/common/ctime.c b/components/libc/compilers/common/ctime.c
index 8a6767e194..7e182b5ba9 100644
--- a/components/libc/compilers/common/ctime.c
+++ b/components/libc/compilers/common/ctime.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2022, RT-Thread Development Team
+ * Copyright (c) 2006-2023, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -32,7 +32,7 @@
 #ifdef RT_USING_POSIX_DELAY
 #include <delay.h>
 #endif
-#ifdef RT_USING_RTC
+#if defined( RT_USING_RTC ) || defined( RT_USING_CPUTIME)
 #include <rtdevice.h>
 #endif
 
@@ -535,28 +535,22 @@ int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
         return -1;
     }
 #ifdef RT_USING_CPUTIME
-    uint64_t cpu_tick, cpu_tick_old;
-    cpu_tick_old = clock_cpu_gettime();
-    rt_tick_t tick;
     double unit = clock_cpu_getres();
-
-    cpu_tick = (rqtp->tv_sec * NANOSECOND_PER_SECOND + ((uint64_t)rqtp->tv_nsec * NANOSECOND_PER_SECOND) / NANOSECOND_PER_SECOND) / unit;
-    tick = (unit * cpu_tick) / (NANOSECOND_PER_SECOND / RT_TICK_PER_SECOND);
-    rt_thread_delay(tick);
+    rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
+    rt_uint64_t tick = ns / unit;
+    rt_cputime_sleep(tick);
 
     if (rt_get_errno() == -RT_EINTR)
     {
         if (rmtp)
         {
-            uint64_t rmtp_cpu_tick = cpu_tick_old + cpu_tick - clock_cpu_gettime();
+            uint64_t rmtp_cpu_tick = tick - clock_cpu_gettime();
             rmtp->tv_sec = ((time_t)(rmtp_cpu_tick * unit)) / NANOSECOND_PER_SECOND;
             rmtp->tv_nsec = ((long)(rmtp_cpu_tick * unit)) % NANOSECOND_PER_SECOND;
         }
         rt_set_errno(EINTR);
         return -1;
     }
-    else
-        while (clock_cpu_gettime() - cpu_tick_old < cpu_tick);
 #else
     rt_tick_t tick, tick_old = rt_tick_get();
     tick = rqtp->tv_sec * RT_TICK_PER_SECOND + ((uint64_t)rqtp->tv_nsec * RT_TICK_PER_SECOND) / NANOSECOND_PER_SECOND;
@@ -761,30 +755,25 @@ int clock_nanosleep(clockid_t clockid, int flags, const struct timespec *rqtp, s
     case CLOCK_MONOTONIC:
     case CLOCK_CPUTIME_ID:
     {
-        uint64_t cpu_tick, cpu_tick_old;
-        cpu_tick_old = clock_cpu_gettime();
-        rt_tick_t tick;
+        rt_uint64_t cpu_tick_old = clock_cpu_gettime();
         double unit = clock_cpu_getres();
-
-        cpu_tick = (rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec * (NANOSECOND_PER_SECOND / NANOSECOND_PER_SECOND)) / unit;
+        rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
+        rt_uint64_t tick = ns / unit;
         if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
-            cpu_tick = cpu_tick < cpu_tick_old ? 0 : cpu_tick - cpu_tick_old;
-        tick = (unit * cpu_tick) / (NANOSECOND_PER_SECOND / RT_TICK_PER_SECOND);
-        rt_thread_delay(tick);
+            tick -= cpu_tick_old;
+        rt_cputime_sleep(tick);
 
         if (rt_get_errno() == -RT_EINTR)
         {
             if (rmtp)
             {
-                uint64_t rmtp_cpu_tick = cpu_tick_old + cpu_tick - clock_cpu_gettime();
+                uint64_t rmtp_cpu_tick = tick - clock_cpu_gettime();
                 rmtp->tv_sec = ((time_t)(rmtp_cpu_tick * unit)) / NANOSECOND_PER_SECOND;
                 rmtp->tv_nsec = ((long)(rmtp_cpu_tick * unit)) % NANOSECOND_PER_SECOND;
             }
             rt_set_errno(EINTR);
             return -1;
         }
-        else
-            while (clock_cpu_gettime() - cpu_tick_old < cpu_tick);
     }
     break;
 #endif
@@ -882,14 +871,21 @@ RTM_EXPORT(rt_timespec_to_tick);
 
 struct timer_obj
 {
-    struct rt_timer timer;
+    union
+    {
+        struct rt_timer timer;
+#ifdef RT_USING_CPUTIME
+        struct rt_cputimer cputimer;
+#endif
+    };
     void (*sigev_notify_function)(union sigval val);
     union sigval val;
     struct timespec interval;              /* Reload value */
     struct timespec value;                 /* Reload value */
-    rt_uint32_t reload;                    /* Reload value in ms */
+    rt_uint64_t reload;                    /* Reload value in ms */
     rt_uint32_t status;
     int sigev_signo;
+    clockid_t clockid;
 #ifdef RT_USING_SMART
     pid_t pid;
 #endif
@@ -906,9 +902,20 @@ static void rtthread_timer_wrapper(void *timerobj)
         timer->status = NOT_ACTIVE;
     }
 
-    timer->reload = (timer->interval.tv_sec * RT_TICK_PER_SECOND) + (timer->interval.tv_nsec * RT_TICK_PER_SECOND) / NANOSECOND_PER_SECOND;
-    if (timer->reload)
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+#ifdef RT_USING_CPUTIME
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+    {
+        timer->reload = (timer->interval.tv_sec * NANOSECOND_PER_SECOND + timer->interval.tv_nsec) / clock_cpu_getres();
+        if (timer->reload)
+            rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+    }
+    else
+#endif /* RT_USING_CPUTIME */
+    {
+        timer->reload = (timer->interval.tv_sec * RT_TICK_PER_SECOND) + (timer->interval.tv_nsec * RT_TICK_PER_SECOND) / NANOSECOND_PER_SECOND;
+        if (timer->reload)
+            rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+    }
 
 #ifdef RT_USING_SMART
     sys_kill(timer->pid, timer->sigev_signo);
@@ -1024,14 +1031,20 @@ int timer_create(clockid_t clockid, struct sigevent *evp, timer_t *timerid)
     timer->interval.tv_nsec = 0;
     timer->reload = 0U;
     timer->status = NOT_ACTIVE;
+    timer->clockid = clockid;
 
-    if (evp->sigev_notify == SIGEV_NONE)
+#ifdef RT_USING_CPUTIME
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
     {
-        rt_timer_init(&timer->timer, timername, RT_NULL, RT_NULL, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+        rt_cputimer_init(&timer->cputimer, timername, rtthread_timer_wrapper, timer, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
     }
     else
+#endif /* RT_USING_CPUTIME */
     {
-        rt_timer_init(&timer->timer, timername, rtthread_timer_wrapper, timer, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+        if (evp->sigev_notify == SIGEV_NONE)
+            rt_timer_init(&timer->timer, timername, RT_NULL, RT_NULL, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+        else
+            rt_timer_init(&timer->timer, timername, rtthread_timer_wrapper, timer, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
     }
 
     timer_id_lock();
@@ -1069,19 +1082,32 @@ int timer_delete(timer_t timerid)
     timer = _g_timerid[(rt_ubase_t)timerid];
     timer_id_put((rt_ubase_t)timerid);
     timer_id_unlock();
-
-    if (timer == RT_NULL || rt_object_get_type(&timer->timer.parent) != RT_Object_Class_Timer)
+    if (timer == RT_NULL)
     {
         rt_set_errno(EINVAL);
         return -1;
     }
 
-    if (timer->status == ACTIVE)
+#ifdef RT_USING_CPUTIME
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
     {
-        timer->status = NOT_ACTIVE;
-        rt_timer_stop(&timer->timer);
+        if (timer->status == ACTIVE)
+        {
+            timer->status = NOT_ACTIVE;
+            rt_cputimer_stop(&timer->cputimer);
+        }
+        rt_cputimer_detach(&timer->cputimer);
+    }
+    else
+#endif /* RT_USING_CPUTIME */
+    {
+        if (timer->status == ACTIVE)
+        {
+            timer->status = NOT_ACTIVE;
+            rt_timer_stop(&timer->timer);
+        }
+        rt_timer_detach(&timer->timer);
     }
-    rt_timer_detach(&timer->timer);
     rt_free(timer);
 
     return 0;
@@ -1107,10 +1133,9 @@ int timer_getoverrun(timer_t timerid)
 int timer_gettime(timer_t timerid, struct itimerspec *its)
 {
     struct timer_obj *timer = timer_id_get((rt_ubase_t)timerid);
-    rt_tick_t remaining;
     rt_uint32_t seconds, nanoseconds;
 
-    if (timer == NULL || rt_object_get_type(&timer->timer.parent) != RT_Object_Class_Timer)
+    if (timer == NULL)
     {
         rt_set_errno(EINVAL);
         return -1;
@@ -1124,31 +1149,45 @@ int timer_gettime(timer_t timerid, struct itimerspec *its)
 
     if (timer->status == ACTIVE)
     {
-        rt_tick_t remain_tick;
-
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_GET_REMAIN_TIME, &remain_tick);
+#ifdef RT_USING_CPUTIME
+        if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+        {
+            rt_uint64_t remain_tick;
+            rt_uint64_t remaining;
+            rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_GET_REMAIN_TIME, &remain_tick);
+            remaining = (remain_tick - clock_cpu_gettime()) / clock_cpu_getres();
+            seconds = remaining / NANOSECOND_PER_SECOND;
+            nanoseconds = remaining % NANOSECOND_PER_SECOND;
+        }
+        else
+#endif /* RT_USING_CPUTIME */
+        {
+            rt_tick_t remain_tick;
+            rt_tick_t remaining;
 
-        /* 'remain_tick' is minimum-unit in the RT-Thread' timer,
-         * so the seconds, nanoseconds will be calculated by 'remain_tick'.
-         */
-        remaining = remain_tick - rt_tick_get();
+            rt_timer_control(&timer->timer, RT_TIMER_CTRL_GET_REMAIN_TIME, &remain_tick);
 
-        /* calculate 'second' */
-        seconds = remaining / RT_TICK_PER_SECOND;
+            /* 'remain_tick' is minimum-unit in the RT-Thread' timer,
+            * so the seconds, nanoseconds will be calculated by 'remain_tick'.
+            */
+            remaining = remain_tick - rt_tick_get();
 
-        /* calculate 'nanosecond';  To avoid lost of accuracy, because "RT_TICK_PER_SECOND" maybe 100, 1000, 1024 and so on.
-         *
-         *        remain_tick                  millisecond                                 remain_tick * MILLISECOND_PER_SECOND
-         *  ------------------------- = --------------------------  --->  millisecond = -------------------------------------------
-         *    RT_TICK_PER_SECOND          MILLISECOND_PER_SECOND                                RT_TICK_PER_SECOND
-         *
-         *                    remain_tick * MILLISECOND_PER_SECOND                          remain_tick * MILLISECOND_PER_SECOND * MICROSECOND_PER_SECOND
-         *   millisecond = ----------------------------------------  ---> nanosecond = -------------------------------------------------------------------
-         *                         RT_TICK_PER_SECOND                                                           RT_TICK_PER_SECOND
-         *
-         */
-        nanoseconds = (((remaining % RT_TICK_PER_SECOND) * MILLISECOND_PER_SECOND) * MICROSECOND_PER_SECOND) / RT_TICK_PER_SECOND ;
+            /* calculate 'second' */
+            seconds = remaining / RT_TICK_PER_SECOND;
 
+            /* calculate 'nanosecond';  To avoid lost of accuracy, because "RT_TICK_PER_SECOND" maybe 100, 1000, 1024 and so on.
+            *
+            *        remain_tick                  millisecond                                 remain_tick * MILLISECOND_PER_SECOND
+            *  ------------------------- = --------------------------  --->  millisecond = -------------------------------------------
+            *    RT_TICK_PER_SECOND          MILLISECOND_PER_SECOND                                RT_TICK_PER_SECOND
+            *
+            *                    remain_tick * MILLISECOND_PER_SECOND                          remain_tick * MILLISECOND_PER_SECOND * MICROSECOND_PER_SECOND
+            *   millisecond = ----------------------------------------  ---> nanosecond = -------------------------------------------------------------------
+            *                         RT_TICK_PER_SECOND                                                           RT_TICK_PER_SECOND
+            *
+            */
+            nanoseconds = (((remaining % RT_TICK_PER_SECOND) * MILLISECOND_PER_SECOND) * MICROSECOND_PER_SECOND) / RT_TICK_PER_SECOND;
+        }
         its->it_value.tv_sec = (rt_int32_t)seconds;
         its->it_value.tv_nsec = (rt_int32_t)nanoseconds;
     }
@@ -1175,7 +1214,6 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
 {
     struct timer_obj *timer = timer_id_get((rt_ubase_t)timerid);
     if (timer == NULL ||
-        rt_object_get_type(&timer->timer.parent) != RT_Object_Class_Timer ||
         value->it_interval.tv_nsec < 0 ||
         value->it_interval.tv_nsec >= NANOSECOND_PER_SECOND ||
         value->it_interval.tv_sec < 0 ||
@@ -1198,7 +1236,12 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
     {
         if (timer->status == ACTIVE)
         {
-            rt_timer_stop(&timer->timer);
+#ifdef RT_USING_CPUTIME
+            if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+                rt_cputimer_stop(&timer->cputimer);
+            else
+#endif /* RT_USING_CPUTIME */
+                rt_timer_stop(&timer->timer);
         }
 
         timer->status = NOT_ACTIVE;
@@ -1212,21 +1255,39 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
         *    RT_TICK_PER_SECOND           NANOSECOND_PER_SECOND                         NANOSECOND_PER_SECOND
         *
         */
-    if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
+#ifdef RT_USING_CPUTIME
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+    {
+        rt_uint64_t tick;
+        double unit = clock_cpu_getres();
+
+        tick = (value->it_value.tv_sec * NANOSECOND_PER_SECOND + value->it_value.tv_nsec) / unit;
+        if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
+        {
+            tick -= clock_cpu_gettime();
+        }
+        timer->reload = tick;
+    }
+    else
+#endif /* RT_USING_CPUTIME */
     {
+        if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
+        {
 #ifndef RT_USING_RTC
-    LOG_W(_WARNING_NO_RTC);
-    return -1;
+            LOG_W(_WARNING_NO_RTC);
+            return -1;
 #else
-        rt_int64_t ts = ((value->it_value.tv_sec - _timevalue.tv_sec) * RT_TICK_PER_SECOND);
-        rt_int64_t tns = (value->it_value.tv_nsec - _timevalue.tv_usec * 1000) * (RT_TICK_PER_SECOND / NANOSECOND_PER_SECOND);
-        rt_int64_t reload = ts + tns;
-        rt_tick_t rt_tick = rt_tick_get();
-        timer->reload = reload < rt_tick ? 0 : reload - rt_tick;
+                rt_int64_t ts = ((value->it_value.tv_sec - _timevalue.tv_sec) * RT_TICK_PER_SECOND);
+                rt_int64_t tns = (value->it_value.tv_nsec - _timevalue.tv_usec * 1000) * (RT_TICK_PER_SECOND / NANOSECOND_PER_SECOND);
+                rt_int64_t reload = ts + tns;
+                rt_tick_t rt_tick = rt_tick_get();
+
+                timer->reload = reload < rt_tick ? 0 : reload - rt_tick;
 #endif
+        }
+        else
+            timer->reload = (value->it_value.tv_sec * RT_TICK_PER_SECOND) + value->it_value.tv_nsec * (RT_TICK_PER_SECOND / NANOSECOND_PER_SECOND);
     }
-    else
-        timer->reload = (value->it_value.tv_sec * RT_TICK_PER_SECOND) + value->it_value.tv_nsec * (RT_TICK_PER_SECOND / NANOSECOND_PER_SECOND);
     timer->interval.tv_sec = value->it_interval.tv_sec;
     timer->interval.tv_nsec = value->it_interval.tv_nsec;
     timer->value.tv_sec = value->it_value.tv_sec;
@@ -1234,18 +1295,38 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
 
     if (timer->status == ACTIVE)
     {
-        rt_timer_stop(&timer->timer);
+#ifdef RT_USING_CPUTIME
+        if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+            rt_cputimer_stop(&timer->cputimer);
+        else
+#endif /* RT_USING_CPUTIME */
+            rt_timer_stop(&timer->timer);
     }
 
     timer->status = ACTIVE;
 
-    if ((value->it_interval.tv_sec == 0) && (value->it_interval.tv_nsec == 0))
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_ONESHOT, RT_NULL);
+#ifdef RT_USING_CPUTIME
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
+    {
+        if ((value->it_interval.tv_sec == 0) && (value->it_interval.tv_nsec == 0))
+            rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_ONESHOT, RT_NULL);
+        else
+            rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_PERIODIC, RT_NULL);
+
+        rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+        rt_cputimer_start(&timer->cputimer);
+    }
     else
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_PERIODIC, RT_NULL);
+#endif /* RT_USING_CPUTIME */
+    {
+        if ((value->it_interval.tv_sec == 0) && (value->it_interval.tv_nsec == 0))
+            rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_ONESHOT, RT_NULL);
+        else
+            rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_PERIODIC, RT_NULL);
 
-    rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
-    rt_timer_start(&timer->timer);
+        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+        rt_timer_start(&timer->timer);
+    }
 
     return 0;
 }