[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

5 files changed, 51 insertions, 36 deletions

diff --git a/libcpu/Kconfig b/libcpu/Kconfig
index b089b61725..22381a42fe 100644
--- a/libcpu/Kconfig
+++ b/libcpu/Kconfig
@@ -264,7 +264,7 @@ if ARCH_RISCV64
     config ARCH_USING_RISCV_COMMON64
         bool
         depends on ARCH_RISCV64
-        select RT_USING_CPUTIME
+        select RT_USING_CLOCK_TIME
         select ARCH_USING_NEW_CTX_SWITCH
         help
             Using the common64 implementation under ./libcpu/risc-v
diff --git a/libcpu/aarch64/common/SConscript b/libcpu/aarch64/common/SConscript
index 13e5f2fdb0..99645683b8 100644
--- a/libcpu/aarch64/common/SConscript
+++ b/libcpu/aarch64/common/SConscript
@@ -21,7 +21,7 @@ if GetDepend('RT_USING_OFW') == False:
 if GetDepend('RT_USING_PIC') == True:
     SrcRemove(src, ['gicv3.c', 'gic.c', 'gtimer.c', 'interrupt.c'])
 
-if GetDepend('RT_HWTIMER_ARM_ARCH') == True:
+if GetDepend('RT_CLOCK_TIME_ARM_ARCH') == True:
     SrcRemove(src, ['gtimer.c'])
 
 group = DefineGroup('CPU', src, depend = [''], CPPPATH = CPPPATH)
diff --git a/libcpu/aarch64/common/gtimer.c b/libcpu/aarch64/common/gtimer.c
index 514ec4e043..46ce287aeb 100644
--- a/libcpu/aarch64/common/gtimer.c
+++ b/libcpu/aarch64/common/gtimer.c
@@ -13,8 +13,8 @@
 #include <gtimer.h>
 #include <cpuport.h>
 
-#ifdef RT_USING_KTIME
-#include <ktime.h>
+#ifdef RT_USING_CLOCK_TIME
+#include <drivers/clock_time.h>
 #endif
 
 #define EL1_PHY_TIMER_IRQ_NUM 30
@@ -42,8 +42,8 @@ void rt_hw_gtimer_local_enable(void)
     rt_hw_gtimer_disable();
     rt_hw_set_gtimer_val(timer_step);
     rt_hw_interrupt_umask(EL1_PHY_TIMER_IRQ_NUM);
-#ifdef RT_USING_KTIME
-    rt_ktime_cputimer_init();
+#ifdef RT_USING_CLOCK_TIME
+    rt_clock_time_source_init();
 #endif
     rt_hw_gtimer_enable();
 }
diff --git a/libcpu/aarch64/common/setup.c b/libcpu/aarch64/common/setup.c
index 2109179134..79df36ec5b 100644
--- a/libcpu/aarch64/common/setup.c
+++ b/libcpu/aarch64/common/setup.c
@@ -72,7 +72,7 @@ void rt_hw_fdt_install_early(void *fdt)
 #endif
 }
 
-#ifdef RT_USING_HWTIMER
+#ifdef RT_USING_CLOCK_TIME
 static rt_ubase_t loops_per_tick[RT_CPUS_NR];
 
 static rt_ubase_t cpu_get_cycles(void)
@@ -132,7 +132,7 @@ static void cpu_us_delay(rt_uint32_t us)
         rt_hw_cpu_relax();
     }
 }
-#endif /* RT_USING_HWTIMER */
+#endif /* RT_USING_CLOCK_TIME */
 
 rt_weak void rt_hw_idle_wfi(void)
 {
@@ -188,14 +188,14 @@ rt_inline void cpu_info_init(void)
 
     rt_hw_cpu_dcache_ops(RT_HW_CACHE_FLUSH, rt_cpu_mpidr_table, sizeof(rt_cpu_mpidr_table));
 
-#ifdef RT_USING_HWTIMER
+#if defined(RT_USING_CLOCK_TIME) && defined(RT_USING_DM)
     cpu_loops_per_tick_init();
 
-    if (!rt_device_hwtimer_us_delay)
+    if (!rt_clock_timer_us_delay)
     {
-        rt_device_hwtimer_us_delay = &cpu_us_delay;
+        rt_clock_timer_us_delay = &cpu_us_delay;
     }
-#endif /* RT_USING_HWTIMER */
+#endif /* RT_USING_CLOCK_TIME && RT_USING_DM */
 }
 
 rt_inline rt_size_t string_to_size(const char *string, const char *who)
@@ -382,10 +382,10 @@ void rt_hw_common_setup(void)
     rt_hw_uart_init();
 #endif
 
-#ifndef RT_HWTIMER_ARM_ARCH
+#ifndef RT_CLOCK_TIME_ARM_ARCH
     /* initialize timer for os tick */
     rt_hw_gtimer_init();
-#endif /* !RT_HWTIMER_ARM_ARCH */
+#endif /* !RT_CLOCK_TIME_ARM_ARCH */
 
 #ifdef RT_USING_COMPONENTS_INIT
     rt_components_board_init();
@@ -478,10 +478,10 @@ rt_weak void rt_hw_secondary_cpu_bsp_start(void)
 #endif /* BSP_USING_GICV3 */
 #endif
 
-#ifndef RT_HWTIMER_ARM_ARCH
+#ifndef RT_CLOCK_TIME_ARM_ARCH
     /* initialize timer for os tick */
     rt_hw_gtimer_local_enable();
-#endif /* !RT_HWTIMER_ARM_ARCH */
+#endif /* !RT_CLOCK_TIME_ARM_ARCH */
 
     rt_dm_secondary_cpu_init();
 
@@ -491,8 +491,8 @@ rt_weak void rt_hw_secondary_cpu_bsp_start(void)
 
     LOG_I("Call cpu %d on %s", cpu_id, "success");
 
-#ifdef RT_USING_HWTIMER
-    if (rt_device_hwtimer_us_delay == &cpu_us_delay)
+#if defined(RT_USING_CLOCK_TIME) && defined(RT_USING_DM)
+    if (rt_clock_timer_us_delay == &cpu_us_delay)
     {
         cpu_loops_per_tick_init();
     }
diff --git a/libcpu/risc-v/common64/tick.c b/libcpu/risc-v/common64/tick.c
index 8e8ff86a74..06ede73a54 100644
--- a/libcpu/risc-v/common64/tick.c
+++ b/libcpu/risc-v/common64/tick.c
@@ -6,49 +6,61 @@
  * Change Logs:
  * Date           Author       Notes
  * 2018/10/28     Bernard      The unify RISC-V porting code.
- * 2024/07/08     Shell        Using CPUTIME as tick
+ * 2024/07/08     Shell        Using clock_time as tick
  */
 
 #include <rthw.h>
 #include <rtthread.h>
 
-#include <drivers/cputime.h>
 #include <encoding.h>
 #include "sbi.h"
 
-#ifdef RT_USING_KTIME
-#include <ktime.h>
+#ifdef RT_USING_CLOCK_TIME
+#include <drivers/clock_time.h>
 #endif
 
 static volatile unsigned long tick_cycles = 0;
+static rt_uint64_t _clock_timer_freq = 0;
+
+rt_weak rt_uint64_t rt_hw_get_clock_timer_freq(void)
+{
+    return CLOCK_TIMER_FREQ;
+}
+
+static rt_uint64_t _riscv_read_time(void)
+{
+    unsigned long time_elapsed;
+
+    __asm__ __volatile__("rdtime %0" : "=r"(time_elapsed));
+    return (rt_uint64_t)time_elapsed;
+}
 
 int tick_isr(void)
 {
     rt_tick_increase();
-    sbi_set_timer(clock_cpu_gettime() + tick_cycles);
+    sbi_set_timer(_riscv_read_time() + tick_cycles);
     return 0;
 }
 
-/* BSP should config clockbase frequency */
-RT_STATIC_ASSERT(defined_clockbase_freq, CPUTIME_TIMER_FREQ != 0);
-
 /* Sets and enable the timer interrupt */
 int rt_hw_tick_init(void)
 {
+    rt_uint64_t freq = rt_hw_get_clock_timer_freq();
+    RT_ASSERT(freq != 0);
+
+    _clock_timer_freq = freq;
+
     /* calculate the tick cycles */
-    tick_cycles = CPUTIME_TIMER_FREQ / RT_TICK_PER_SECOND;
+    tick_cycles = freq / RT_TICK_PER_SECOND;
 
     /* Clear the Supervisor-Timer bit in SIE */
     clear_csr(sie, SIP_STIP);
 
-    /* Init riscv timer */
-    riscv_cputime_init();
-
     /* Set timer */
-    sbi_set_timer(clock_cpu_gettime() + tick_cycles);
+    sbi_set_timer(_riscv_read_time() + tick_cycles);
 
-#ifdef RT_USING_KTIME
-    rt_ktime_cputimer_init();
+#ifdef RT_USING_CLOCK_TIME
+    rt_clock_time_source_init();
 #endif
     /* Enable the Supervisor-Timer bit in SIE */
     set_csr(sie, SIP_STIP);
@@ -66,11 +78,14 @@ void rt_hw_us_delay(rt_uint32_t us)
     unsigned long start_time;
     unsigned long end_time;
     unsigned long run_time;
+    rt_uint64_t freq;
 
-    start_time = clock_cpu_gettime();
-    end_time = start_time + us * (CPUTIME_TIMER_FREQ / 1000000);
+    start_time = _riscv_read_time();
+    freq = _clock_timer_freq ? _clock_timer_freq : rt_hw_get_clock_timer_freq();
+    RT_ASSERT(freq != 0);
+    end_time = start_time + (rt_uint64_t)us * freq / 1000000ULL;
     do
     {
-        run_time = clock_cpu_gettime();
+        run_time = _riscv_read_time();
     } while(run_time < end_time);
 }