qemu增加了hrt_absolute_time和rt_hw_us_delay函数

bsps/sitl/qemu/.clang-format

@@ -0,0 +1,10 @@
+# Available style options are described in https://clang.llvm.org/docs/ClangFormatStyleOptions.html
+#
+# An easy way to create the .clang-format file is:
+#
+# clang-format -style=llvm -dump-config > .clang-format
+#
+---
+Language: Cpp
+DisableFormat: true
+---

bsps/sitl/qemu/drivers/drv_timer.c

@@ -156,7 +156,46 @@ void timer_clear_pending(int timer)
     }
 }
 
+uint64_t hrt_absolute_time()
+{
+    const uint32_t SystemCoreClock = 1000000ULL;
+
+    uint64_t us = rt_tick_get_millisecond() * 1000UL;
+
+    uint32_t reload =  TIMER_LOAD(TIMER_HW_BASE);
+    uint32_t tvalue = TIMER_VALUE(TIMER_HW_BASE);
+
+    us += 1000000ULL * (reload - tvalue) / SystemCoreClock;
+
+    return us;
+}
+
 void rt_hw_us_delay(rt_uint32_t us)
 {
-    rt_thread_mdelay(us / 1000);
-}
+    rt_uint32_t ticks;
+    rt_uint32_t told, tnow, tcnt = 0;
+
+    rt_uint32_t reload =  TIMER_LOAD(TIMER_HW_BASE);
+    ticks = us * reload / (1000000 / RT_TICK_PER_SECOND);
+    told = TIMER_VALUE(TIMER_HW_BASE);
+    while (1)
+    {
+        tnow = TIMER_VALUE(TIMER_HW_BASE);
+        if (tnow != told)
+        {
+            if (tnow < told)
+            {
+                tcnt += told - tnow;
+            }
+            else
+            {
+                tcnt += reload - tnow + told;
+            }
+            told = tnow;
+            if (tcnt >= ticks)
+            {
+                break;
+            }
+        }
+    }
+}

pkgs/hrtimer/V3/hrt_using_ostick.c

@@ -18,7 +18,7 @@ static rt_timer_t _timer = NULL;
  * Fetch a never-wrapping absolute time value in microseconds from
  * some arbitrary epoch shortly after system start.
  */
-hrt_abstime hrt_absolute_time(void) {
+RT_WEAK hrt_abstime hrt_absolute_time(void) {
     uint64_t tick = rt_tick_get();
     return 1000000ULL * tick / RT_TICK_PER_SECOND;
 }
@@ -29,27 +29,30 @@ static void hrt_tim_timeout(void *param) {
     hrt_tim_isr(1);
 }
 
-int hrt_tim_control(int cmd, void *arg) {
+int hrt_tim_expiry(uint32_t timeout_us) {
     if (!_timer) {
         return -1;
     }
 
     rt_err_t ret = 0;
 
-    if (cmd == RT_TIMER_CTRL_SET_TIME) {
-        if (_timer->parent.flag & RT_TIMER_FLAG_ACTIVATED) {
-            ret += rt_timer_stop(_timer);
-        }
-        ret += rt_timer_control(_timer, cmd, arg);
-        ret += rt_timer_start(_timer);
-    } else {
-        ret += rt_timer_control(_timer, cmd, arg);
+
+    if (_timer->parent.flag & RT_TIMER_FLAG_ACTIVATED) {
+        ret += rt_timer_stop(_timer);
     }
 
+    rt_int32_t timeout_tick = rt_tick_from_millisecond(timeout_us / 1000);
+
+    ret += rt_timer_control(_timer, RT_TIMER_CTRL_SET_TIME, &timeout_tick);
+    ret += rt_timer_start(_timer);
+
+
     return ret;
 }
 
 int hrt_tim_init(void) {
     _timer = rt_timer_create("hrtimer", hrt_tim_timeout, NULL, 1, RT_TIMER_FLAG_ONE_SHOT);
     return 0;
 }
+
+INIT_SUBSYS_EXPORT(hrt_tim_init);

pkgs/hrtimer/V3/hrt_using_systick.c

@@ -38,14 +38,30 @@ static void hrt_tim_timeout(void *param) {
     hrt_tim_isr(1);
 }
 
-int hrt_tim_control(int cmd, void *arg) {
-    if (_timer) {
-        return rt_timer_control(_timer, cmd, arg);
+int hrt_tim_expiry(uint32_t timeout_us) {
+    if (!_timer) {
+        return -1;
     }
-    return -1;
+
+    rt_err_t ret = 0;
+
+
+    if (_timer->parent.flag & RT_TIMER_FLAG_ACTIVATED) {
+        ret += rt_timer_stop(_timer);
+    }
+
+    rt_int32_t timeout_tick = rt_tick_from_millisecond(timeout_us / 1000);
+
+    ret += rt_timer_control(_timer, RT_TIMER_CTRL_SET_TIME, &timeout_tick);
+    ret += rt_timer_start(_timer);
+
+
+    return ret;
 }
 
 int hrt_tim_init(void) {
     _timer = rt_timer_create("hrtimer", hrt_tim_timeout, NULL, 1, RT_TIMER_FLAG_ONE_SHOT);
     return 0;
 }
+
+INIT_SUBSYS_EXPORT(hrt_tim_init);

pkgs/hrtimer/V3/hrtimer.c

@@ -318,7 +318,7 @@ static void hrt_call_reschedule() {
     latency_baseline = deadline;
 
     // Remove the existing expiry and update with the new expiry
-    hrt_tim_control(RT_TIMER_CTRL_SET_TIME, deadline - now);
+    hrt_tim_expiry(deadline - now);
 }
 
 static void hrt_latency_update(void) {

pkgs/hrtimer/V3/hrtimer.h

@@ -206,14 +206,9 @@ __EXPORT extern void hrt_call_init(struct hrt_call *entry);
 __EXPORT extern void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay);
 
 /*
- * Initialise the HRT.
+ * update with the new expiry
  */
-__EXPORT extern void hrt_init(void);
-
-/*
- * Initialise the HRT ioctl (user mode access to HRT).
- */
-__EXPORT extern void hrt_ioctl_init(void);
+__EXPORT extern int hrt_tim_expiry(uint32_t timeout_us);
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)