🌈 style(ktime): mv to components/drivers/ktime (#8103)

components/drivers/ktime/Kconfig

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+menuconfig RT_USING_KTIME
+    bool "Ktime: kernel time"
+    default n

components/drivers/ktime/README.md

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+# ktime
+
+## 1、介绍
+
+ktime 为 kernel time，为内核时间子系统，实现了内核启动时间以及芯片内核 cputimer 时间管理以及一个 ns 精度的高精度定时器，
+
+## 2、如何打开 ktime
+
+使用 ktime 需要在 RT-Thread 的 menuconfig 中选择它，具体路径如下：
+
+```
+RT-Thread Components
+    [*] Ktime: kernel time
+```
+
+## 3、使用 ktime
+
+> 函数的功能以及参数类型已经写在头文件的注释之中，本文不再赘述
+
+### 3.1、boottime
+
+boottime 为系统启动时间，即为系统从上电开始到现在运行的时间，默认的时间基准为芯片内核的 cputimer 的 cnt 值，已经适配了 aarch64 与 riscv64 平台，例如 stm32 等平台需要在自己的 bsp 里面进行适配（boottime 里面函数都为 weak function），需要注意 tick 从中断到设置中间的时延
+
+**此值应当为 Readonly**
+
+### 3.2、cputimer
+
+cputimer 为芯片内核的 cputimer，也可以认为是 os tick 来源的那个定时器，cputimer 主要是提供了一个统一的接口去获得其分辨率，频率，cnt 值
+
+**此值应当为 Readonly**
+
+### 3.3、hrtimer
+
+> TODO: hrtimer 目前还是使用优先级链表的方式进行管理，在遇到任务的大规模并发时还是存在部分性能问题，待内核有一个统一的红黑树组件后，再进行优化
+
+hrtimer 为高精度定时器，需要重写其 weak 函数（需要对接到硬件定时器，否则默认走的是软件定时器，分辨率只有 os tick 的值）才能正常使用，其主要使用方法：
+
+#### 3.3.1、延时
+
+hrtimer 的延时并不是 while(1)式死等，它会将一个线程挂起，睡眠多少时间后通过硬件定时器将其唤醒（注：延时 ns 并不是真的能准确的延时这么多，而是在保证性能的情况下尽可能的延时）
+
+- rt_ktime_hrtimer_sleep：单位为 cputimer 的 tick 值
+- rt_ktime_hrtimer_ndelay：单位为 ns
+- rt_ktime_hrtimer_udelay：单位为 us
+- rt_ktime_hrtimer_mdelay：单位为 ms
+
+#### 3.3.1、定时器
+
+hrtimer 还提供了一套 rt_timer 风格的 api
+
+- rt_ktime_hrtimer_init
+- rt_ktime_hrtimer_delete
+- rt_ktime_hrtimer_start
+- rt_ktime_hrtimer_stop
+- rt_ktime_hrtimer_control
+- rt_ktime_hrtimer_detach
+
+需要注意，此定时器回调函数依旧处于中断之中，不能做一些耗时的任务
+
+## 5、联系方式
+
+- 维护：xqyjlj
+- 主页：https://github.com/xqyjlj

components/drivers/ktime/SConscript

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+import os
+from building import *
+
+Import('rtconfig')
+
+cwd = GetCurrentDir()
+
+src = Glob('src/*.c')
+list = os.listdir(cwd + "/src")
+if rtconfig.ARCH in list:
+    if os.path.exists(cwd + "/src/" + rtconfig.ARCH + "/" + rtconfig.CPU):
+        src += Glob("src/" + rtconfig.ARCH + "/" + rtconfig.CPU + "/*.c")
+    else:
+        src += Glob("src/" + rtconfig.ARCH + "/*.c")
+CPPPATH = [cwd, cwd + "/inc"]
+
+group = DefineGroup('ktime', src, depend=['RT_USING_KTIME'], CPPPATH=CPPPATH)
+
+Return('group')

components/drivers/ktime/inc/ktime.h

@@ -0,0 +1,173 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#ifndef __KTIME_H__
+#define __KTIME_H__
+
+#include <stdint.h>
+#include <sys/time.h>
+
+#include "rtthread.h"
+
+#define RT_KTIME_RESMUL (1000000UL)
+
+struct rt_ktime_hrtimer
+{
+    struct rt_object    parent; /**< inherit from rt_object */
+    rt_list_t           row;
+    void               *parameter;
+    unsigned long       init_cnt;
+    unsigned long       timeout_cnt;
+    rt_err_t            error;
+    struct rt_semaphore sem;
+    void (*timeout_func)(void *parameter);
+};
+typedef struct rt_ktime_hrtimer *rt_ktime_hrtimer_t;
+
+/**
+ * @brief Get boottime with us precision
+ *
+ * @param tv: timeval
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_boottime_get_us(struct timeval *tv);
+
+/**
+ * @brief Get boottime with s precision
+ *
+ * @param t: time_t
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_boottime_get_s(time_t *t);
+
+/**
+ * @brief Get boottime with ns precision
+ *
+ * @param ts: timespec
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_boottime_get_ns(struct timespec *ts);
+
+/**
+ * @brief Get cputimer resolution
+ *
+ * @return (resolution * RT_KTIME_RESMUL)
+ */
+unsigned long rt_ktime_cputimer_getres(void);
+
+/**
+ * @brief Get cputimer frequency
+ *
+ * @return frequency
+ */
+unsigned long rt_ktime_cputimer_getfrq(void);
+
+/**
+ * @brief Get cputimer the value of the cnt counter
+ *
+ * @return cnt
+ */
+unsigned long rt_ktime_cputimer_getcnt(void);
+
+/**
+ * @brief Get cputimer the cnt value corresponding to 1 os tick
+ *
+ * @return step
+ */
+unsigned long rt_ktime_cputimer_getstep(void);
+
+/**
+ * @brief Init cputimer
+ *
+ */
+void rt_ktime_cputimer_init(void);
+
+/**
+ * @brief Get hrtimer resolution
+ *
+ * @return (resolution * RT_KTIME_RESMUL)
+ */
+unsigned long rt_ktime_hrtimer_getres(void);
+
+/**
+ * @brief Get hrtimer frequency
+ *
+ * @return frequency
+ */
+unsigned long rt_ktime_hrtimer_getfrq(void);
+
+/**
+ * @brief Get hrtimer the value of the cnt counter
+ *
+ * @return cnt
+ */
+unsigned long rt_ktime_hrtimer_getcnt(void);
+
+/**
+ * @brief set hrtimer timeout, when timeout, the timer callback will call timeout
+ *
+ * @param cnt: hrtimer requires a timing cnt value
+ * @param timeout: timeout callback
+ * @param param: parameter
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_hrtimer_settimeout(unsigned long cnt, void (*timeout)(void *param), void *param);
+
+void     rt_ktime_hrtimer_init(rt_ktime_hrtimer_t timer,
+                               const char        *name,
+                               unsigned long      cnt,
+                               rt_uint8_t         flag,
+                               void (*timeout)(void *parameter),
+                               void *parameter);
+rt_err_t rt_ktime_hrtimer_start(rt_ktime_hrtimer_t timer);
+rt_err_t rt_ktime_hrtimer_stop(rt_ktime_hrtimer_t timer);
+rt_err_t rt_ktime_hrtimer_control(rt_ktime_hrtimer_t timer, int cmd, void *arg);
+rt_err_t rt_ktime_hrtimer_detach(rt_ktime_hrtimer_t timer);
+
+rt_inline void rt_ktime_hrtimer_keep_errno(rt_ktime_hrtimer_t timer, rt_err_t err)
+{
+    RT_ASSERT(timer != RT_NULL);
+
+    timer->error = err;
+}
+
+/**
+ * @brief sleep by the cputimer cnt value
+ *
+ * @param cnt: the cputimer cnt value
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_hrtimer_sleep(unsigned long cnt);
+
+/**
+ * @brief sleep by ns
+ *
+ * @param ns: ns
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_hrtimer_ndelay(unsigned long ns);
+
+/**
+ * @brief sleep by us
+ *
+ * @param us: us
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_hrtimer_udelay(unsigned long us);
+
+/**
+ * @brief sleep by ms
+ *
+ * @param ms: ms
+ * @return rt_err_t
+ */
+rt_err_t rt_ktime_hrtimer_mdelay(unsigned long ms);
+
+#endif

components/drivers/ktime/src/aarch64/cputimer.c

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+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#include "gtimer.h"
+#include "ktime.h"
+
+static volatile unsigned long _init_cnt = 0;
+
+unsigned long rt_ktime_cputimer_getres(void)
+{
+    return ((1000UL * 1000 * 1000) * RT_KTIME_RESMUL) / rt_hw_get_gtimer_frq();
+}
+
+unsigned long rt_ktime_cputimer_getfrq(void)
+{
+    return rt_hw_get_gtimer_frq();
+}
+
+unsigned long rt_ktime_cputimer_getcnt(void)
+{
+    return rt_hw_get_cntpct_val() - _init_cnt;
+}
+
+unsigned long rt_ktime_cputimer_getstep(void)
+{
+    return rt_ktime_cputimer_getfrq() / RT_TICK_PER_SECOND;
+}
+
+void rt_ktime_cputimer_init(void)
+{
+    _init_cnt = rt_hw_get_cntpct_val();
+}

components/drivers/ktime/src/boottime.c

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+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#include "ktime.h"
+
+#define __KTIME_MUL ((1000UL * 1000 * 1000) / RT_TICK_PER_SECOND)
+
+rt_weak rt_err_t rt_ktime_boottime_get_us(struct timeval *tv)
+{
+    RT_ASSERT(tv != RT_NULL);
+
+    unsigned long ns = (rt_ktime_cputimer_getcnt() * rt_ktime_cputimer_getres()) / RT_KTIME_RESMUL;
+
+    tv->tv_sec  = ns / (1000UL * 1000 * 1000);
+    tv->tv_usec = (ns % (1000UL * 1000 * 1000)) / 1000;
+
+    return RT_EOK;
+}
+
+rt_weak rt_err_t rt_ktime_boottime_get_s(time_t *t)
+{
+    RT_ASSERT(t != RT_NULL);
+
+    unsigned long ns = (rt_ktime_cputimer_getcnt() * rt_ktime_cputimer_getres()) / RT_KTIME_RESMUL;
+
+    *t = ns / (1000UL * 1000 * 1000);
+
+    return RT_EOK;
+}
+
+rt_weak rt_err_t rt_ktime_boottime_get_ns(struct timespec *ts)
+{
+    RT_ASSERT(ts != RT_NULL);
+
+    unsigned long ns = (rt_ktime_cputimer_getcnt() * rt_ktime_cputimer_getres()) / RT_KTIME_RESMUL;
+
+    ts->tv_sec  = ns / (1000UL * 1000 * 1000);
+    ts->tv_nsec = ns % (1000UL * 1000 * 1000);
+
+    return RT_EOK;
+}

components/drivers/ktime/src/cputimer.c

@@ -0,0 +1,36 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#include "ktime.h"
+
+rt_weak unsigned long rt_ktime_cputimer_getres(void)
+{
+    return ((1000UL * 1000 * 1000) * RT_KTIME_RESMUL) / RT_TICK_PER_SECOND;
+}
+
+rt_weak unsigned long rt_ktime_cputimer_getfrq(void)
+{
+    return RT_TICK_PER_SECOND;
+}
+
+rt_weak unsigned long rt_ktime_cputimer_getcnt(void)
+{
+    return rt_tick_get();
+}
+
+rt_weak unsigned long rt_ktime_cputimer_getstep(void)
+{
+    return 1;
+}
+
+rt_weak void rt_ktime_cputimer_init(void)
+{
+    return;
+}

components/drivers/ktime/src/hrtimer.c

@@ -0,0 +1,399 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#include <rtdevice.h>
+#include <rthw.h>
+#include <rtthread.h>
+
+#include "ktime.h"
+
+#ifdef ARCH_CPU_64BIT
+#define _HRTIMER_MAX_CNT UINT64_MAX
+#else
+#define _HRTIMER_MAX_CNT UINT32_MAX
+#endif
+
+static rt_list_t          _timer_list = RT_LIST_OBJECT_INIT(_timer_list);
+static rt_ktime_hrtimer_t _nowtimer   = RT_NULL;
+static struct rt_spinlock _spinlock;
+
+rt_weak unsigned long rt_ktime_hrtimer_getres(void)
+{
+    return ((1000UL * 1000 * 1000) * RT_KTIME_RESMUL) / RT_TICK_PER_SECOND;
+}
+
+rt_weak unsigned long rt_ktime_hrtimer_getfrq(void)
+{
+    return RT_TICK_PER_SECOND;
+}
+
+rt_weak unsigned long rt_ktime_hrtimer_getcnt(void)
+{
+    return rt_tick_get();
+}
+
+static void (*_outcb)(void *param) = RT_NULL;
+
+static void _hrtimer_timeout(void *parameter)
+{
+    if (_outcb)
+        _outcb(parameter);
+}
+
+rt_weak rt_err_t rt_ktime_hrtimer_settimeout(unsigned long cnt, void (*timeout)(void *param), void *param)
+{
+    static rt_timer_t timer = RT_NULL;
+
+    _outcb = timeout;
+    if (cnt == 0)
+    {
+        if (timer != RT_NULL)
+        {
+            if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
+            {
+                rt_timer_stop(timer);
+            }
+        }
+
+        if (_outcb)
+            _outcb(param);
+
+        return RT_EOK;
+    }
+
+    if (timer == RT_NULL)
+    {
+        timer = rt_timer_create("shrtimer", _hrtimer_timeout, param, cnt, RT_TIMER_FLAG_ONE_SHOT);
+    }
+    else
+    {
+        rt_tick_t tick = cnt;
+        rt_timer_control(timer, RT_TIMER_CTRL_SET_TIME, &tick);
+        rt_timer_control(timer, RT_TIMER_CTRL_SET_PARM, param);
+    }
+
+    if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
+    {
+        rt_timer_stop(timer);
+    }
+    rt_timer_start(timer);
+    return RT_EOK;
+}
+
+/**
+ * @brief convert cnt from cputimer cnt to hrtimer cnt
+ *
+ * @param cnt
+ * @return unsigned long
+ */
+static unsigned long _cnt_convert(unsigned long cnt)
+{
+    unsigned long rtn   = 0;
+    unsigned long count = cnt - rt_ktime_cputimer_getcnt();
+    if (count > (_HRTIMER_MAX_CNT / 2))
+        return 0;
+
+    rtn = (count * rt_ktime_cputimer_getres()) / rt_ktime_hrtimer_getres();
+    return rtn == 0 ? 1 : rtn; /* at least 1 */
+}
+
+static void _sleep_timeout(void *parameter)
+{
+    struct rt_semaphore *sem;
+    sem = (struct rt_semaphore *)parameter;
+    rt_sem_release(sem);
+}
+
+static void _set_next_timeout(void);
+static void _timeout_callback(void *parameter)
+{
+    rt_ktime_hrtimer_t timer;
+    timer = (rt_ktime_hrtimer_t)parameter;
+    rt_base_t level;
+
+    level     = rt_spin_lock_irqsave(&_spinlock);
+    _nowtimer = RT_NULL;
+    rt_list_remove(&(timer->row));
+    if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
+    {
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+        timer->timeout_func(timer->parameter);
+    }
+    else
+    {
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+    }
+
+    _set_next_timeout();
+}
+
+static void _set_next_timeout(void)
+{
+    rt_ktime_hrtimer_t t;
+    rt_base_t          level;
+
+    level = rt_spin_lock_irqsave(&_spinlock);
+    if (&_timer_list != _timer_list.prev)
+    {
+        t = rt_list_entry((&_timer_list)->next, struct rt_ktime_hrtimer, row);
+        if (_nowtimer != RT_NULL)
+        {
+            if (t != _nowtimer && t->timeout_cnt < _nowtimer->timeout_cnt)
+            {
+                _nowtimer = t;
+                rt_spin_unlock_irqrestore(&_spinlock, level);
+                rt_ktime_hrtimer_settimeout(_cnt_convert(t->timeout_cnt), _timeout_callback, t);
+            }
+            else
+            {
+                rt_spin_unlock_irqrestore(&_spinlock, level);
+            }
+        }
+        else
+        {
+            _nowtimer = t;
+            rt_spin_unlock_irqrestore(&_spinlock, level);
+            rt_ktime_hrtimer_settimeout(_cnt_convert(t->timeout_cnt), _timeout_callback, t);
+        }
+    }
+    else
+    {
+        _nowtimer = RT_NULL;
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+        rt_ktime_hrtimer_settimeout(0, RT_NULL, RT_NULL);
+    }
+}
+
+void rt_ktime_hrtimer_init(rt_ktime_hrtimer_t timer,
+                           const char        *name,
+                           unsigned long      cnt,
+                           rt_uint8_t         flag,
+                           void (*timeout)(void *parameter),
+                           void *parameter)
+{
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+    RT_ASSERT(timeout != RT_NULL);
+    RT_ASSERT(cnt < (_HRTIMER_MAX_CNT / 2));
+
+    /* set flag */
+    timer->parent.flag = flag;
+
+    /* set deactivated */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+    timer->timeout_func = timeout;
+    timer->parameter    = parameter;
+    timer->timeout_cnt  = cnt + rt_ktime_cputimer_getcnt();
+    timer->init_cnt     = cnt;
+
+    rt_list_init(&(timer->row));
+    rt_sem_init(&(timer->sem), "hrtimer", 0, RT_IPC_FLAG_PRIO);
+}
+
+rt_err_t rt_ktime_hrtimer_start(rt_ktime_hrtimer_t timer)
+{
+    rt_list_t *timer_list;
+    rt_base_t  level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+
+    level = rt_spin_lock_irqsave(&_spinlock);
+    rt_list_remove(&timer->row); /* remove timer from list */
+    /* change status of timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+    timer_list = &_timer_list;
+    for (; timer_list != _timer_list.prev; timer_list = timer_list->next)
+    {
+        rt_ktime_hrtimer_t t;
+        rt_list_t         *p = timer_list->next;
+
+        t = rt_list_entry(p, struct rt_ktime_hrtimer, row);
+
+        if ((t->timeout_cnt - timer->timeout_cnt) == 0)
+        {
+            continue;
+        }
+        else if ((t->timeout_cnt - timer->timeout_cnt) < (_HRTIMER_MAX_CNT / 2))
+        {
+            break;
+        }
+    }
+    rt_list_insert_after(timer_list, &(timer->row));
+    timer->parent.flag |= RT_TIMER_FLAG_ACTIVATED;
+    rt_spin_unlock_irqrestore(&_spinlock, level);
+
+    _set_next_timeout();
+
+    return RT_EOK;
+}
+
+rt_err_t rt_ktime_hrtimer_stop(rt_ktime_hrtimer_t timer)
+{
+    rt_base_t level;
+
+    RT_ASSERT(timer != RT_NULL); /* timer check */
+
+    level = rt_spin_lock_irqsave(&_spinlock);
+    if (!(timer->parent.flag & RT_TIMER_FLAG_ACTIVATED))
+    {
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+        return -RT_ERROR;
+    }
+    _nowtimer = RT_NULL;
+    rt_list_remove(&timer->row);
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED; /* change status */
+    rt_spin_unlock_irqrestore(&_spinlock, level);
+
+    _set_next_timeout();
+
+    return RT_EOK;
+}
+
+rt_err_t rt_ktime_hrtimer_control(rt_ktime_hrtimer_t timer, int cmd, void *arg)
+{
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+
+    level = rt_spin_lock_irqsave(&_spinlock);
+    switch (cmd)
+    {
+        case RT_TIMER_CTRL_GET_TIME:
+            *(unsigned long *)arg = timer->init_cnt;
+            break;
+
+        case RT_TIMER_CTRL_SET_TIME:
+            RT_ASSERT((*(unsigned long *)arg) < (_HRTIMER_MAX_CNT / 2));
+            timer->init_cnt    = *(unsigned long *)arg;
+            timer->timeout_cnt = *(unsigned long *)arg + rt_ktime_cputimer_getcnt();
+            break;
+
+        case RT_TIMER_CTRL_SET_ONESHOT:
+            timer->parent.flag &= ~RT_TIMER_FLAG_PERIODIC;
+            break;
+
+        case RT_TIMER_CTRL_SET_PERIODIC:
+            timer->parent.flag |= RT_TIMER_FLAG_PERIODIC;
+            break;
+
+        case RT_TIMER_CTRL_GET_STATE:
+            if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
+            {
+                /*timer is start and run*/
+                *(rt_uint32_t *)arg = RT_TIMER_FLAG_ACTIVATED;
+            }
+            else
+            {
+                /*timer is stop*/
+                *(rt_uint32_t *)arg = RT_TIMER_FLAG_DEACTIVATED;
+            }
+            break;
+
+        case RT_TIMER_CTRL_GET_REMAIN_TIME:
+            *(unsigned long *)arg = timer->timeout_cnt;
+            break;
+        case RT_TIMER_CTRL_GET_FUNC:
+            arg = (void *)timer->timeout_func;
+            break;
+
+        case RT_TIMER_CTRL_SET_FUNC:
+            timer->timeout_func = (void (*)(void *))arg;
+            break;
+
+        case RT_TIMER_CTRL_GET_PARM:
+            *(void **)arg = timer->parameter;
+            break;
+
+        case RT_TIMER_CTRL_SET_PARM:
+            timer->parameter = arg;
+            break;
+
+        default:
+            break;
+    }
+    rt_spin_unlock_irqrestore(&_spinlock, level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_ktime_hrtimer_detach(rt_ktime_hrtimer_t timer)
+{
+    rt_base_t level;
+
+    /* parameter check */
+    RT_ASSERT(timer != RT_NULL);
+
+    level = rt_spin_lock_irqsave(&_spinlock);
+
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+    /* when interrupted */
+    if (timer->error == -RT_EINTR || timer->error == RT_EINTR)
+    {
+        _nowtimer = RT_NULL;
+        rt_list_remove(&timer->row);
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+        _set_next_timeout();
+    }
+    else
+    {
+        rt_spin_unlock_irqrestore(&_spinlock, level);
+    }
+    rt_sem_detach(&(timer->sem));
+
+    return RT_EOK;
+}
+
+/************************** delay ***************************/
+
+rt_err_t rt_ktime_hrtimer_sleep(unsigned long cnt)
+{
+    struct rt_ktime_hrtimer timer;
+    rt_err_t err;
+
+    if (cnt == 0)
+        return -RT_EINVAL;
+
+    rt_ktime_hrtimer_init(&timer, "hrtimer_sleep", cnt, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_HARD_TIMER,
+                          _sleep_timeout, &(timer.sem));
+
+    rt_ktime_hrtimer_start(&timer); /* reset the timeout of thread timer and start it */
+    err = rt_sem_take_interruptible(&(timer.sem), RT_WAITING_FOREVER);
+    rt_ktime_hrtimer_keep_errno(&timer, err);
+
+    rt_ktime_hrtimer_detach(&timer);
+    return RT_EOK;
+}
+
+rt_err_t rt_ktime_hrtimer_ndelay(unsigned long ns)
+{
+    unsigned long res = rt_ktime_cputimer_getres();
+    return rt_ktime_hrtimer_sleep((ns * RT_KTIME_RESMUL) / res);
+}
+
+rt_err_t rt_ktime_hrtimer_udelay(unsigned long us)
+{
+    return rt_ktime_hrtimer_ndelay(us * 1000);
+}
+
+rt_err_t rt_ktime_hrtimer_mdelay(unsigned long ms)
+{
+    return rt_ktime_hrtimer_ndelay(ms * 1000000);
+}
+
+static int rt_ktime_hrtimer_lock_init(void)
+{
+    RT_UNUSED(_spinlock);
+    rt_spin_lock_init(&_spinlock);
+    return 0;
+}
+INIT_BOARD_EXPORT(rt_ktime_hrtimer_lock_init);

components/drivers/ktime/src/risc-v/virt64/cputimer.c

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-07-10     xqyjlj       The first version.
+ */
+
+#include "ktime.h"
+
+static volatile unsigned long _init_cnt = 0;
+
+unsigned long rt_ktime_cputimer_getres(void)
+{
+    return ((1000UL * 1000 * 1000) * RT_KTIME_RESMUL) / CPUTIME_TIMER_FREQ;
+}
+
+unsigned long rt_ktime_cputimer_getfrq(void)
+{
+    return CPUTIME_TIMER_FREQ;
+}
+
+unsigned long rt_ktime_cputimer_getcnt(void)
+{
+    unsigned long time_elapsed;
+    __asm__ __volatile__("rdtime %0" : "=r"(time_elapsed));
+    return time_elapsed - _init_cnt;
+}
+
+unsigned long rt_ktime_cputimer_getstep(void)
+{
+    return rt_ktime_cputimer_getfrq() / RT_TICK_PER_SECOND;
+}
+
+void rt_ktime_cputimer_init(void)
+{
+    __asm__ __volatile__("rdtime %0" : "=r"(_init_cnt));
+}