sys/ztimer: initial import

CODEOWNERS

@@ -117,6 +117,10 @@
 /sys/usb/                                   @bergzand @dylad @aabadie
 /sys/xtimer/                                @kaspar030 @MichelRottleuthner
 
+/sys/include/ztimer.h                       @kaspar030 @bergzand
+/sys/include/ztimer/                        @kaspar030 @bergzand
+/sys/ztimer/                                @kaspar030 @bergzand
+
 /tests/                                     @smlng @leandrolanzieri @aabadie @MichelRottleuthner @fjmolinas
 /tests/emb6*                                @miri64
 /tests/gnrc*                                @miri64

Makefile.dep

@@ -675,12 +675,6 @@ ifneq (,$(filter arduino_pwm,$(FEATURES_USED)))
   FEATURES_REQUIRED += periph_pwm
 endif
 
-ifneq (,$(filter xtimer,$(USEMODULE)))
-  DEFAULT_MODULE += auto_init_xtimer
-  FEATURES_REQUIRED += periph_timer
-  USEMODULE += div
-endif
-
 ifneq (,$(filter saul,$(USEMODULE)))
   USEMODULE += phydat
 endif
@@ -1013,6 +1007,28 @@ ifneq (,$(filter periph_uart_nonblocking,$(USEMODULE)))
   FEATURES_REQUIRED += periph_uart
 endif
 
+# include ztimer dependencies
+ifneq (,$(filter ztimer%,$(USEMODULE)))
+  include $(RIOTBASE)/sys/ztimer/Makefile.dep
+endif
+
+# handle xtimer's deps. Needs to be done *after* ztimer
+ifneq (,$(filter xtimer,$(USEMODULE)))
+  ifeq (,$(filter ztimer_xtimer_compat,$(USEMODULE)))
+    # xtimer is used, ztimer xtimer wrapper is not
+    DEFAULT_MODULE += auto_init_xtimer
+    USEMODULE += div
+    ifeq (,$(filter xtimer_on_ztimer,$(USEMODULE)))
+      # ztimer is not used, so use *periph_timer as low-level timer*.
+      FEATURES_REQUIRED += periph_timer
+    else
+      # will use *ztimer_usec as low-level timer*
+    endif
+  else
+  # ztimer_xtimer_compat is used, all of *xtimer's API will be mapped on ztimer.*
+  endif
+endif
+
 # Enable periph_gpio when periph_gpio_irq is enabled
 ifneq (,$(filter periph_gpio_irq,$(USEMODULE)))
   FEATURES_REQUIRED += periph_gpio

boards/common/arduino-atmega/include/board_common.h

@@ -105,6 +105,16 @@ extern "C" {
 #define XTIMER_BACKOFF              (40)
 /** @} */
 
+/**
+ * @name    ztimer configuration values
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE     ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV      (TIMER_DEV(0))
+#define CONFIG_ZTIMER_USEC_FREQ     (250000LU)
+#define CONFIG_ZTIMER_USEC_WIDTH    (16)
+/** @} */
+
 /**
  * @name    Configuration parameters for the W5100 driver
  * @{

boards/ek-lm4f120xl/include/board.h

@@ -64,6 +64,15 @@ extern "C" {
 #define LED2_TOGGLE         (LED_PORT ^=  LED2_MASK)
 /* @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE    ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV     TIMER_DEV(0)
+#define CONFIG_ZTIMER_USEC_MIN     (8)
+/** @} */
+
 /**
  * @brief   Initialize board specific hardware, including clock, LEDs and std-IO
  */

boards/frdm-kw41z/include/board.h

@@ -89,6 +89,14 @@ extern "C"
 #endif
 /** @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE     ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV      (TIMER_PIT_DEV(0))
+/** @} */
+
 /**
  * @name    NOR flash hardware configuration
  * @{

boards/native/include/board.h

@@ -183,6 +183,16 @@ static const motor_driver_config_t motor_driver_config[] = {
 #define MOTOR_DRIVER_NUMOF           ARRAY_SIZE(motor_driver_config)
 /** @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE    ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV     TIMER_DEV(0)
+/* on native, anything can happen... */
+#define CONFIG_ZTIMER_USEC_MIN     (64)
+/** @} */
+
 #endif /* __cplusplus */
 
 #ifdef __cplusplus

boards/phynode-kw41z/include/board.h

@@ -104,6 +104,14 @@ extern "C"
 #endif
 /** @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE     ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV      (TIMER_PIT_DEV(0))
+/** @} */
+
 /**
  * @name Define the interface for the CCS811 gas sensors
  * @{

boards/samr21-xpro/include/board.h

@@ -37,6 +37,15 @@ extern "C" {
 #define XTIMER_CHAN         (0)
 /** @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE    ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV     TIMER_DEV(1)
+#define CONFIG_ZTIMER_USEC_MIN     (8)
+/** @} */
+
 /**
  * @name    AT86RF233 configuration
  *

boards/usb-kw41z/include/board.h

@@ -100,6 +100,16 @@ extern "C"
 #endif
 /** @} */
 
+/**
+ * @name    ztimer configuration
+ * @{
+ */
+#define CONFIG_ZTIMER_USEC_TYPE     ZTIMER_TYPE_PERIPH_TIMER
+#define CONFIG_ZTIMER_USEC_DEV      (TIMER_PIT_DEV(0))
+#define CONFIG_ZTIMER_USEC_FREQ     (1000000LU)
+#define CONFIG_ZTIMER_USEC_WIDTH    (32)
+/** @} */
+
 #ifdef __cplusplus
 }
 #endif

makefiles/pseudomodules.inc.mk

@@ -94,6 +94,10 @@ PSEUDOMODULES += stdio_uart_rx
 PSEUDOMODULES += suit_%
 PSEUDOMODULES += wakaama_objects_%
 PSEUDOMODULES += zptr
+PSEUDOMODULES += ztimer%
+
+# ztimer's main module is called "ztimer_core"
+NO_PSEUDOMODULES += ztimer_core
 
 # handle suit_v4 being a distinct module
 NO_PSEUDOMODULES += suit_v4

sys/Makefile

@@ -76,8 +76,8 @@ endif
 ifneq (,$(filter log_%,$(USEMODULE)))
   DIRS += log
 endif
-ifneq (,$(filter xtimer,$(USEMODULE)))
-  DIRS += xtimer
+ifneq (,$(filter ztimer_xtimer_compat,$(USEMODULE)))
+  FILTER += xtimer
 endif
 ifneq (,$(filter cpp11-compat,$(USEMODULE)))
   DIRS += cpp11-compat
@@ -163,7 +163,10 @@ endif
 ifneq (,$(filter netif,$(USEMODULE)))
     DIRS += net/netif
 endif
+ifneq (,$(filter ztimer_core,$(USEMODULE)))
+    DIRS += ztimer
+endif
 
-DIRS += $(dir $(wildcard $(addsuffix /Makefile, $(USEMODULE))))
+DIRS += $(dir $(wildcard $(addsuffix /Makefile, $(filter-out $(FILTER), $(USEMODULE)))))
 
 include $(RIOTBASE)/Makefile.base

sys/auto_init/auto_init.c

@@ -392,7 +392,13 @@ void auto_init(void)
         extern void auto_init_random(void);
         auto_init_random();
     }
-    if (IS_USED(MODULE_AUTO_INIT_XTIMER)) {
+    if (IS_USED(MODULE_AUTO_INIT_ZTIMER)) {
+        LOG_DEBUG("Auto init ztimer.\n");
+        void ztimer_init(void);
+        ztimer_init();
+    }
+    if (IS_USED(MODULE_AUTO_INIT_XTIMER) &&
+            !IS_USED(MODULE_ZTIMER_XTIMER_COMPAT)) {
         LOG_DEBUG("Auto init xtimer.\n");
         extern void xtimer_init(void);
         xtimer_init();

sys/include/xtimer.h

@@ -38,8 +38,14 @@
 #include "mutex.h"
 #include "kernel_types.h"
 
+#ifdef MODULE_ZTIMER_XTIMER_COMPAT
+#include "ztimer/xtimer_compat.h"
+#else
+
+#ifndef MODULE_XTIMER_ON_ZTIMER
 #include "board.h"
 #include "periph_conf.h"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
@@ -617,5 +623,7 @@ static inline int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout);
 }
 #endif
 
+#endif /* MODULE_XTIMER_ON_ZTIMER */
+
 /** @} */
 #endif /* XTIMER_H */

sys/include/xtimer/implementation.h

@@ -27,9 +27,15 @@
 #error "Do not include this file directly! Use xtimer.h instead"
 #endif
 
+#ifdef MODULE_XTIMER_ON_ZTIMER
+#include "ztimer.h"
+#else
 #include "periph/timer.h"
+#endif
+
 #include "irq.h"
 
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -46,7 +52,12 @@ extern volatile uint64_t _xtimer_current_time;
  */
 static inline uint32_t _xtimer_lltimer_now(void)
 {
+#ifndef MODULE_XTIMER_ON_ZTIMER
     return timer_read(XTIMER_DEV);
+#else
+    return ztimer_now(ZTIMER_USEC);
+#endif
+
 }
 
 /**