🐞 fix(components/drivers): fix cpu timer in multithreading (#7222)

* 🐞 fix(components/drivers): fix cpu timer in multithreading

* 🎈 perf(components): change double to uint64_t

* 🎈 perf(components): add UL suffix

7 files changed, 90 insertions, 152 deletions

diff --git a/components/drivers/cputime/cputime.c b/components/drivers/cputime/cputime.c
index d87e39199c..b8060299b1 100644
--- a/components/drivers/cputime/cputime.c
+++ b/components/drivers/cputime/cputime.c
@@ -18,9 +18,9 @@ static const struct rt_clock_cputime_ops *_cputime_ops  = RT_NULL;
  * The clock_cpu_getres() function shall return the resolution of CPU time, the
  * number of nanosecond per tick.
  *
- * @return the number of nanosecond per tick
+ * @return the number of nanosecond per tick(x (1000UL * 1000))
  */
-double clock_cpu_getres(void)
+uint64_t clock_cpu_getres(void)
 {
     if (_cputime_ops)
         return _cputime_ops->cputime_getres();
@@ -78,9 +78,9 @@ int clock_cpu_issettimeout(void)
  */
 uint64_t clock_cpu_microsecond(uint64_t cpu_tick)
 {
-    double unit = clock_cpu_getres();
+    uint64_t unit = clock_cpu_getres();
 
-    return (uint64_t)((cpu_tick * unit) / 1000);
+    return (uint64_t)(((cpu_tick * unit) / (1000UL * 1000)) / 1000);
 }
 
 /**
@@ -93,9 +93,9 @@ uint64_t clock_cpu_microsecond(uint64_t cpu_tick)
  */
 uint64_t clock_cpu_millisecond(uint64_t cpu_tick)
 {
-    double unit = clock_cpu_getres();
+    uint64_t unit = clock_cpu_getres();
 
-    return (uint64_t)((cpu_tick * unit) / (1000 * 1000));
+    return (uint64_t)(((cpu_tick * unit) / (1000UL * 1000)) / (1000UL * 1000));
 }
 
 /**
diff --git a/components/drivers/cputime/cputime_cortexm.c b/components/drivers/cputime/cputime_cortexm.c
index 247e4fcf2d..52626a2f98 100644
--- a/components/drivers/cputime/cputime_cortexm.c
+++ b/components/drivers/cputime/cputime_cortexm.c
@@ -19,11 +19,11 @@
 #endif
 
 /* Use Cycle counter of Data Watchpoint and Trace Register for CPU time */
-static double cortexm_cputime_getres(void)
+static uint64_t cortexm_cputime_getres(void)
 {
-    double ret = 1000UL * 1000 * 1000;
+    uint64_t ret = 1000UL * 1000 * 1000;
 
-    ret = ret / SystemCoreClock;
+    ret = (ret * (1000UL * 1000)) / SystemCoreClock;
     return ret;
 }
 
diff --git a/components/drivers/cputime/cputime_riscv.c b/components/drivers/cputime/cputime_riscv.c
index a486c0a5f5..597157c226 100644
--- a/components/drivers/cputime/cputime_riscv.c
+++ b/components/drivers/cputime/cputime_riscv.c
@@ -6,11 +6,11 @@
 
 /* Use Cycle counter of Data Watchpoint and Trace Register for CPU time */
 
-static double riscv_cputime_getres(void)
+static uint64_t riscv_cputime_getres(void)
 {
-    double ret = 1000UL * 1000 * 1000;
+    uint64_t ret = 1000UL * 1000 * 1000;
 
-    ret = ret / CPUTIME_TIMER_FREQ;
+    ret = (ret * (1000UL * 1000)) / CPUTIME_TIMER_FREQ;
     return ret;
 }
 
diff --git a/components/drivers/cputime/cputimer.c b/components/drivers/cputime/cputimer.c
index 12be40356e..22253e3590 100644
--- a/components/drivers/cputime/cputimer.c
+++ b/components/drivers/cputime/cputimer.c
@@ -5,78 +5,87 @@
  *
  * Change Logs:
  * Date           Author            Notes
- * 2023-02-13     zhkag           first version
+ * 2023-02-13     zhkag             first version
+ * 2023-04-03     xqyjlj            fix cputimer in multithreading
  */
 
-#include <rtthread.h>
-#include <rthw.h>
 #include <rtdevice.h>
+#include <rthw.h>
+#include <rtthread.h>
 
-static rt_list_t _cputimer_list = RT_LIST_OBJECT_INIT(_cputimer_list);
+static rt_list_t           _cputimer_list     = RT_LIST_OBJECT_INIT(_cputimer_list);
+static struct rt_cputimer *_cputimer_nowtimer = RT_NULL;
 
-static void _cputime_timeout(void *parameter)
+static void _cputime_sleep_timeout(void *parameter)
+{
+    struct rt_semaphore *sem;
+    sem = (struct rt_semaphore *)parameter;
+    rt_sem_release(sem);
+}
+
+static void _cputime_timeout_callback(void *parameter)
 {
     struct rt_cputimer *timer;
     timer = (struct rt_cputimer *)parameter;
-    timer->timeout_func(timer->parameter);
-    rt_list_remove(&timer->row);
+    rt_base_t level;
+    level              = rt_hw_interrupt_disable();
+    _cputimer_nowtimer = RT_NULL;
+    rt_list_remove(&(timer->row));
+    rt_hw_interrupt_enable(level);
+    timer->timeout_func(&(timer->sem));
+}
+
+static void _set_next_timeout()
+{
+    struct rt_cputimer *t;
 
     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);
+        t = rt_list_entry((&_cputimer_list)->next, struct rt_cputimer, row);
+        if (_cputimer_nowtimer != RT_NULL)
+        {
+            if (t != _cputimer_nowtimer && t->timeout_tick < _cputimer_nowtimer->timeout_tick)
+            {
+                _cputimer_nowtimer = t;
+                clock_cpu_settimeout(t->timeout_tick, _cputime_timeout_callback, t);
+            }
+        }
+        else
+        {
+            _cputimer_nowtimer = t;
+            clock_cpu_settimeout(t->timeout_tick, _cputime_timeout_callback, 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);
+        _cputimer_nowtimer = NULL;
     }
 }
 
 void rt_cputimer_init(rt_cputimer_t timer,
-                      const char *name,
+                      const char   *name,
                       void (*timeout)(void *parameter),
-                      void *parameter,
+                      void       *parameter,
                       rt_uint64_t tick,
-                      rt_uint8_t flag)
+                      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->parameter    = parameter;
+    timer->timeout_tick = tick + clock_cpu_gettime();
+    timer->init_tick    = tick;
 
-    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_sem_init(&(timer->sem), "cputime", 0, RT_IPC_FLAG_PRIO);
 }
 
 rt_err_t rt_cputimer_delete(rt_cputimer_t timer)
@@ -85,8 +94,6 @@ rt_err_t rt_cputimer_delete(rt_cputimer_t timer)
 
     /* 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 */
@@ -99,7 +106,6 @@ rt_err_t rt_cputimer_delete(rt_cputimer_t timer)
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
 
-    rt_object_delete(&(timer->parent));
     _set_next_timeout();
 
     return RT_EOK;
@@ -108,11 +114,10 @@ rt_err_t rt_cputimer_delete(rt_cputimer_t timer)
 rt_err_t rt_cputimer_start(rt_cputimer_t timer)
 {
     rt_list_t *timer_list;
-    rt_base_t level;
+    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 */
@@ -123,8 +128,6 @@ rt_err_t rt_cputimer_start(rt_cputimer_t timer)
     /* 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;
@@ -165,7 +168,6 @@ rt_err_t rt_cputimer_stop(rt_cputimer_t timer)
 
     /* 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))
@@ -191,7 +193,6 @@ rt_err_t rt_cputimer_control(rt_cputimer_t timer, int cmd, void *arg)
 
     /* 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();
@@ -260,8 +261,6 @@ rt_err_t rt_cputimer_detach(rt_cputimer_t timer)
 
     /* 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 */
@@ -275,52 +274,19 @@ rt_err_t rt_cputimer_detach(rt_cputimer_t timer)
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
 
-    rt_object_detach(&(timer->parent));
+    rt_sem_detach(&(timer->sem));
 
     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;
+    rt_base_t          level;
     struct rt_cputimer cputimer;
-    int err;
 
     if (!clock_cpu_issettimeout())
     {
-        rt_int32_t ms = tick * clock_cpu_getres() / 1000000;
+        rt_int32_t ms = clock_cpu_millisecond(tick);
         return rt_thread_delay(rt_tick_from_millisecond(ms));
     }
 
@@ -329,53 +295,24 @@ rt_err_t rt_cputime_sleep(rt_uint64_t tick)
         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);
-
-    rt_cputimer_init(&cputimer, "cputime_sleep", _cputime_sleep_timeout, thread, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+    rt_cputimer_init(&cputimer, "cputime_sleep", _cputime_sleep_timeout, &(cputimer.sem), tick,
+                     RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
 
     /* 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_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();
-        if (thread->error == -RT_ETIMEOUT)
-            thread->error = RT_EOK;
-    }
-    else
-    {
-        rt_hw_interrupt_enable(level);
-    }
+    rt_cputimer_start(&cputimer); /* reset the timeout of thread timer and start it */
+    rt_hw_interrupt_enable(level);
+    rt_sem_take_interruptible(&(cputimer.sem), RT_WAITING_FOREVER);
 
     rt_cputimer_detach(&cputimer);
-    return err;
+    return RT_EOK;
 }
 
 rt_err_t rt_cputime_ndelay(rt_uint64_t ns)
 {
-    double unit = clock_cpu_getres();
-    return rt_cputime_sleep(ns / unit);
+    uint64_t unit = clock_cpu_getres();
+    return rt_cputime_sleep(ns * (1000UL * 1000) / unit);
 }
 
 rt_err_t rt_cputime_udelay(rt_uint64_t us)
diff --git a/components/drivers/include/drivers/cputime.h b/components/drivers/include/drivers/cputime.h
index bbcbe440cc..9c32cd97f8 100644
--- a/components/drivers/include/drivers/cputime.h
+++ b/components/drivers/include/drivers/cputime.h
@@ -16,12 +16,12 @@
 
 struct rt_clock_cputime_ops
 {
-    double (*cputime_getres)(void);
+    uint64_t (*cputime_getres)(void);
     uint64_t (*cputime_gettime)(void);
     int (*cputime_settimeout)(uint64_t tick, void (*timeout)(void *param), void *param);
 };
 
-double clock_cpu_getres(void);
+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);
diff --git a/components/drivers/include/drivers/cputimer.h b/components/drivers/include/drivers/cputimer.h
index f15f0c615c..371992a41e 100644
--- a/components/drivers/include/drivers/cputimer.h
+++ b/components/drivers/include/drivers/cputimer.h
@@ -21,6 +21,7 @@ struct rt_cputimer
     void *parameter;
     rt_uint64_t init_tick;
     rt_uint64_t timeout_tick;
+    struct rt_semaphore sem;
 };
 typedef struct rt_cputimer *rt_cputimer_t;
 
diff --git a/components/libc/compilers/common/ctime.c b/components/libc/compilers/common/ctime.c
index c1573bf661..88f4560d3c 100644
--- a/components/libc/compilers/common/ctime.c
+++ b/components/libc/compilers/common/ctime.c
@@ -536,9 +536,9 @@ int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
         return -1;
     }
 #ifdef RT_USING_CPUTIME
-    double unit = clock_cpu_getres();
+    rt_uint64_t unit = clock_cpu_getres();
     rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
-    rt_uint64_t tick = ns / unit;
+    rt_uint64_t tick = (ns * (1000UL * 1000)) / unit;
     rt_cputime_sleep(tick);
 
     if (rt_get_errno() == -RT_EINTR)
@@ -546,8 +546,8 @@ int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
         if (rmtp)
         {
             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;
+            rmtp->tv_sec = ((time_t)((rmtp_cpu_tick * unit) / (1000UL * 1000))) / NANOSECOND_PER_SECOND;
+            rmtp->tv_nsec = ((long)((rmtp_cpu_tick * unit) / (1000UL * 1000))) % NANOSECOND_PER_SECOND;
         }
         rt_set_errno(EINTR);
         return -1;
@@ -634,7 +634,7 @@ int clock_getres(clockid_t clockid, struct timespec *res)
 #ifdef RT_USING_CPUTIME
     case CLOCK_CPUTIME_ID:
         res->tv_sec  = 0;
-        res->tv_nsec = clock_cpu_getres();
+        res->tv_nsec = (clock_cpu_getres() / (1000UL * 1000));
         break;
 #endif
 
@@ -684,14 +684,14 @@ int clock_gettime(clockid_t clockid, struct timespec *tp)
     case CLOCK_MONOTONIC:
     case CLOCK_CPUTIME_ID:
         {
-            double unit = 0;
+            uint64_t unit = 0;
             uint64_t cpu_tick;
 
             unit = clock_cpu_getres();
             cpu_tick = clock_cpu_gettime();
 
-            tp->tv_sec  = ((uint64_t)(cpu_tick * unit)) / NANOSECOND_PER_SECOND;
-            tp->tv_nsec = ((uint64_t)(cpu_tick * unit)) % NANOSECOND_PER_SECOND;
+            tp->tv_sec  = ((uint64_t)((cpu_tick * unit) / (1000UL * 1000))) / NANOSECOND_PER_SECOND;
+            tp->tv_nsec = ((uint64_t)((cpu_tick * unit) / (1000UL * 1000))) % NANOSECOND_PER_SECOND;
         }
         break;
 #endif
@@ -757,9 +757,9 @@ int clock_nanosleep(clockid_t clockid, int flags, const struct timespec *rqtp, s
     case CLOCK_CPUTIME_ID:
     {
         rt_uint64_t cpu_tick_old = clock_cpu_gettime();
-        double unit = clock_cpu_getres();
+        uint64_t unit = clock_cpu_getres();
         rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
-        rt_uint64_t tick = ns / unit;
+        rt_uint64_t tick = (ns * (1000UL * 1000)) / unit;
         if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
             tick -= cpu_tick_old;
         rt_cputime_sleep(tick);
@@ -769,8 +769,8 @@ int clock_nanosleep(clockid_t clockid, int flags, const struct timespec *rqtp, s
             if (rmtp)
             {
                 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;
+                rmtp->tv_sec = ((time_t)((rmtp_cpu_tick * unit) / (1000UL * 1000))) / NANOSECOND_PER_SECOND;
+                rmtp->tv_nsec = ((long)((rmtp_cpu_tick * unit) / (1000UL * 1000))) % NANOSECOND_PER_SECOND;
             }
             rt_set_errno(EINTR);
             return -1;
@@ -906,7 +906,7 @@ static void rtthread_timer_wrapper(void *timerobj)
 #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();
+        timer->reload = ((timer->interval.tv_sec * NANOSECOND_PER_SECOND + timer->interval.tv_nsec) * (1000UL * 1000)) / clock_cpu_getres();
         if (timer->reload)
             rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
     }
@@ -1174,7 +1174,7 @@ int timer_gettime(timer_t timerid, struct itimerspec *its)
             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();
+            remaining = ((remain_tick - clock_cpu_gettime()) * (1000UL * 1000)) / clock_cpu_getres();
             seconds = remaining / NANOSECOND_PER_SECOND;
             nanoseconds = remaining % NANOSECOND_PER_SECOND;
         }
@@ -1278,9 +1278,9 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
     if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
     {
         rt_uint64_t tick;
-        double unit = clock_cpu_getres();
+        uint64_t unit = clock_cpu_getres();
 
-        tick = (value->it_value.tv_sec * NANOSECOND_PER_SECOND + value->it_value.tv_nsec) / unit;
+        tick = ((value->it_value.tv_sec * NANOSECOND_PER_SECOND + value->it_value.tv_nsec) * (1000UL * 1000)) / unit;
         if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
         {
             tick -= clock_cpu_gettime();