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 <bernard.xiong@gmail.com>

components/drivers/cputime/SConscript

@@ -4,6 +4,7 @@ cwd     = GetCurrentDir()
 CPPPATH = [cwd + '/../include']
 src     = Split('''
 cputime.c
+cputimer.c
 ''')
 
 if GetDepend('RT_USING_CPUTIME_CORTEXM'):

components/drivers/cputime/cputime.c

@@ -61,6 +61,13 @@ int clock_cpu_settimeout(uint64_t tick, void (*timeout)(void *param), void *para
     return 0;
 }
 
+int clock_cpu_issettimeout(void)
+{
+    if (_cputime_ops)
+        return _cputime_ops->cputime_settimeout != RT_NULL;
+    return RT_FALSE;
+}
+
 /**
  * The clock_cpu_microsecond() fucntion shall return the microsecond according to
  * cpu_tick parameter.

components/drivers/cputime/cputimer.c

@@ -0,0 +1,388 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2023-02-13     zhkag           first version
+ */
+
+#include <rtthread.h>
+#include <rthw.h>
+#include <rtdevice.h>
+
+static rt_list_t _cputimer_list = RT_LIST_OBJECT_INIT(_cputimer_list);
+
+static void _cputime_timeout(void *parameter)
+{
+    struct rt_cputimer *timer;
+    timer = (struct rt_cputimer *)parameter;
+    timer->timeout_func(timer->parameter);
+    rt_list_remove(&timer->row);
+
+    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);
+    }
+    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);
+    }
+}
+
+void rt_cputimer_init(rt_cputimer_t timer,
+                      const char *name,
+                      void (*timeout)(void *parameter),
+                      void *parameter,
+                      rt_uint64_t tick,
+                      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->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_err_t rt_cputimer_delete(rt_cputimer_t timer)
+{
+    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(rt_object_is_systemobject(&timer->parent) == RT_FALSE);
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    rt_list_remove(&timer->row);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    rt_object_delete(&(timer->parent));
+    _set_next_timeout();
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_start(rt_cputimer_t timer)
+{
+    rt_list_t *timer_list;
+    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 */
+    level = rt_hw_interrupt_disable();
+    /* remove timer from list */
+
+    rt_list_remove(&timer->row);
+    /* 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;
+         timer_list = timer_list->next)
+    {
+        struct rt_cputimer *t;
+        rt_list_t *p = timer_list->next;
+
+        t = rt_list_entry(p, struct rt_cputimer, row);
+
+        if ((t->timeout_tick - timer->timeout_tick) == 0)
+        {
+            continue;
+        }
+        else if ((t->timeout_tick - timer->timeout_tick) < 0x7fffffffffffffff)
+        {
+            break;
+        }
+    }
+
+    rt_list_insert_after(timer_list, &(timer->row));
+
+    timer->parent.flag |= RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_stop(rt_cputimer_t timer)
+{
+    rt_base_t level;
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    /* 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))
+    {
+        rt_hw_interrupt_enable(level);
+        return -RT_ERROR;
+    }
+
+    rt_list_remove(&timer->row);
+    /* change status */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_control(rt_cputimer_t timer, int cmd, void *arg)
+{
+    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);
+
+    level = rt_hw_interrupt_disable();
+    switch (cmd)
+    {
+    case RT_TIMER_CTRL_GET_TIME:
+        *(rt_uint64_t *)arg = timer->init_tick;
+        break;
+
+    case RT_TIMER_CTRL_SET_TIME:
+        RT_ASSERT((*(rt_uint64_t *)arg) < 0x7fffffffffffffff);
+        timer->init_tick = *(rt_uint64_t *)arg;
+        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:
+        *(rt_uint64_t *)arg = timer->timeout_tick;
+        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_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+rt_err_t rt_cputimer_detach(rt_cputimer_t timer)
+{
+    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(rt_object_is_systemobject(&timer->parent));
+    RT_ASSERT(clock_cpu_issettimeout() != RT_FALSE);
+
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
+
+    rt_list_remove(&timer->row);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+
+    _set_next_timeout();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
+
+    rt_object_detach(&(timer->parent));
+
+    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;
+    struct rt_cputimer cputimer;
+    int err;
+
+    if (!clock_cpu_issettimeout())
+    {
+        rt_int32_t ms = tick * clock_cpu_getres() / 1000000;
+        return rt_thread_delay(rt_tick_from_millisecond(ms));
+    }
+
+    if (tick == 0)
+    {
+        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);
+
+    /* 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_init(&cputimer, "cputime_sleep", _cputime_sleep_timeout, thread, 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+        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();
+        rt_cputimer_detach(&cputimer);
+        if (thread->error == -RT_ETIMEOUT)
+            thread->error = RT_EOK;
+    }
+    else
+    {
+        rt_hw_interrupt_enable(level);
+    }
+
+    return err;
+}
+
+rt_err_t rt_cputime_ndelay(rt_uint64_t ns)
+{
+    double unit = clock_cpu_getres();
+    return rt_cputime_sleep(ns / unit);
+}
+
+rt_err_t rt_cputime_udelay(rt_uint64_t us)
+{
+    return rt_cputime_ndelay(us * 1000);
+}
+
+rt_err_t rt_cputime_mdelay(rt_uint64_t ms)
+{
+    return rt_cputime_ndelay(ms * 1000000);
+}

components/drivers/include/drivers/cputime.h

@@ -12,6 +12,7 @@
 #define CPUTIME_H__
 
 #include <stdint.h>
+#include "cputimer.h"
 
 struct rt_clock_cputime_ops
 {
@@ -23,6 +24,7 @@ struct rt_clock_cputime_ops
 double 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);
 
 uint64_t clock_cpu_microsecond(uint64_t cpu_tick);
 uint64_t clock_cpu_millisecond(uint64_t cpu_tick);

components/drivers/include/drivers/cputimer.h

@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2023-02-13     zhkag           first version
+ */
+
+#ifndef CPUTIMER_H__
+#define CPUTIMER_H__
+
+#include <rtthread.h>
+
+struct rt_cputimer
+{
+    struct rt_object parent; /**< inherit from rt_object */
+    rt_list_t row;
+    void (*timeout_func)(void *parameter);
+    void *parameter;
+    rt_uint64_t init_tick;
+    rt_uint64_t timeout_tick;
+};
+typedef struct rt_cputimer *rt_cputimer_t;
+
+rt_err_t rt_cputimer_detach(rt_cputimer_t timer);
+
+#ifdef RT_USING_HEAP
+void rt_cputimer_init(rt_cputimer_t timer,
+                      const char *name,
+                      void (*timeout)(void *parameter),
+                      void *parameter,
+                      rt_uint64_t tick,
+                      rt_uint8_t flag);
+rt_err_t rt_cputimer_delete(rt_cputimer_t timer);
+#endif
+
+rt_err_t rt_cputimer_start(rt_cputimer_t timer);
+rt_err_t rt_cputimer_stop(rt_cputimer_t timer);
+rt_err_t rt_cputimer_control(rt_cputimer_t timer, int cmd, void *arg);
+rt_err_t rt_cputime_sleep(rt_uint64_t tick);
+rt_err_t rt_cputime_ndelay(rt_uint64_t ns);
+rt_err_t rt_cputime_udelay(rt_uint64_t us);
+rt_err_t rt_cputime_mdelay(rt_uint64_t ms);
+
+#endif

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();
-
+    rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
-    cpu_tick = (rqtp->tv_sec * NANOSECOND_PER_SECOND + ((uint64_t)rqtp->tv_nsec * NANOSECOND_PER_SECOND) / NANOSECOND_PER_SECOND) / unit;
+    rt_uint64_t tick = ns / unit;
-    tick = (unit * cpu_tick) / (NANOSECOND_PER_SECOND / RT_TICK_PER_SECOND);
+    rt_cputime_sleep(tick);
-    rt_thread_delay(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;
+        rt_uint64_t cpu_tick_old = clock_cpu_gettime();
-        cpu_tick_old = clock_cpu_gettime();
-        rt_tick_t tick;
         double unit = clock_cpu_getres();
-
+        rt_uint64_t ns = rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec;
-        cpu_tick = (rqtp->tv_sec * NANOSECOND_PER_SECOND + rqtp->tv_nsec * (NANOSECOND_PER_SECOND / NANOSECOND_PER_SECOND)) / unit;
+        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 -= cpu_tick_old;
-        tick = (unit * cpu_tick) / (NANOSECOND_PER_SECOND / RT_TICK_PER_SECOND);
+        rt_cputime_sleep(tick);
-        rt_thread_delay(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;
+#ifdef RT_USING_CPUTIME
-    if (timer->reload)
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+    {
+        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)
-    if (timer == RT_NULL || rt_object_get_type(&timer->timer.parent) != RT_Object_Class_Timer)
     {
         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;
+        if (timer->status == ACTIVE)
-        rt_timer_stop(&timer->timer);
+        {
+            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;
+#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;
 
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_GET_REMAIN_TIME, &remain_tick);
+            rt_timer_control(&timer->timer, RT_TIMER_CTRL_GET_REMAIN_TIME, &remain_tick);
 
-        /* 'remain_tick' is minimum-unit in the RT-Thread' timer,
+            /* 'remain_tick' is minimum-unit in the RT-Thread' timer,
-         * so the seconds, nanoseconds will be calculated by 'remain_tick'.
+            * so the seconds, nanoseconds will be calculated by 'remain_tick'.
-         */
+            */
-        remaining = remain_tick - rt_tick_get();
+            remaining = remain_tick - rt_tick_get();
 
-        /* calculate 'second' */
+            /* calculate 'second' */
-        seconds = remaining / RT_TICK_PER_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 ;
 
+            /* 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())
     {
-#ifndef RT_USING_RTC
+        rt_uint64_t tick;
-    LOG_W(_WARNING_NO_RTC);
+        double unit = clock_cpu_getres();
-    return -1;
+
-#else
+        tick = (value->it_value.tv_sec * NANOSECOND_PER_SECOND + value->it_value.tv_nsec) / unit;
-        rt_int64_t ts = ((value->it_value.tv_sec - _timevalue.tv_sec) * RT_TICK_PER_SECOND);
+        if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
-        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;
+            tick -= clock_cpu_gettime();
-        rt_tick_t rt_tick = rt_tick_get();
+        }
-        timer->reload = reload < rt_tick ? 0 : reload - rt_tick;
+        timer->reload = 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);
+#endif /* RT_USING_CPUTIME */
+    {
+        if ((flags & TIMER_ABSTIME) == TIMER_ABSTIME)
+        {
+#ifndef RT_USING_RTC
+            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;
+#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);
+    }
     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))
+#ifdef RT_USING_CPUTIME
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_ONESHOT, RT_NULL);
+    if (timer->clockid == CLOCK_CPUTIME_ID && clock_cpu_issettimeout())
-    else
+    {
-        rt_timer_control(&timer->timer, RT_TIMER_CTRL_SET_PERIODIC, RT_NULL);
+        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_timer_control(&timer->timer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
+        rt_cputimer_control(&timer->cputimer, RT_TIMER_CTRL_SET_TIME, &(timer->reload));
-    rt_timer_start(&timer->timer);
+        rt_cputimer_start(&timer->cputimer);
+    }
+    else
+#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);
+    }
 
     return 0;
 }