kernel/sched.c: add k_usleep() API function

Add k_usleep() API, analogous to k_sleep(), excepting that the argument
is in microseconds rather than milliseconds.

Signed-off-by: Charles E. Youse <charles.youse@intel.com>

include/kernel.h

@@ -790,16 +790,30 @@ void k_thread_system_pool_assign(struct k_thread *thread);
 /**
  * @brief Put the current thread to sleep.
  *
- * This routine puts the current thread to sleep for @a duration
- * milliseconds.
+ * This routine puts the current thread to sleep for @a duration milliseconds.
  *
- * @param duration Number of milliseconds to sleep.
+ * @param ms Number of milliseconds to sleep.
  *
  * @return Zero if the requested time has elapsed or the number of milliseconds
  * left to sleep, if thread was woken up by \ref k_wakeup call.
- *
  */
-__syscall s32_t k_sleep(s32_t duration);
+__syscall s32_t k_sleep(s32_t ms);
+
+/**
+ * @brief Put the current thread to sleep with microsecond resolution.
+ *
+ * This function is unlikely to work as expected without kernel tuning.
+ * In particular, because the lower bound on the duration of a sleep is
+ * the duration of a tick, CONFIG_SYS_CLOCK_TICKS_PER_SEC must be adjusted
+ * to achieve the resolution desired. The implications of doing this must
+ * be understood before attempting to use k_usleep(). Use with caution.
+ *
+ * @param us Number of microseconds to sleep.
+ *
+ * @return Zero if the requested time has elapsed or the number of microseconds
+ * left to sleep, if thread was woken up by \ref k_wakeup call.
+ */
+__syscall s32_t k_usleep(s32_t us);
 
 /**
  * @brief Cause the current thread to busy wait.

include/sys_clock.h

@@ -129,6 +129,37 @@ static inline u64_t __ticks_to_ms(s64_t ticks)
 #endif
 }
 
+/*
+ * These are only currently used by k_usleep(), but they are
+ * defined here for parity with their ms analogs above. Note:
+ * we don't bother trying the 32-bit intermediate shortcuts
+ * possible with ms, because of the magnitudes involved.
+ */
+
+static inline s32_t z_us_to_ticks(s32_t us)
+{
+#ifdef CONFIG_SYS_CLOCK_EXISTS
+	return (s32_t) ceiling_fraction(
+		(s64_t)us * sys_clock_hw_cycles_per_sec(),
+		((s64_t)USEC_PER_SEC * sys_clock_hw_cycles_per_sec()) /
+		CONFIG_SYS_CLOCK_TICKS_PER_SEC);
+#else
+	__ASSERT(us == 0, "us not zero");
+	return 0;
+#endif
+}
+
+static inline s32_t __ticks_to_us(s32_t ticks)
+{
+#ifdef CONFIG_SYS_CLOCK_EXISTS
+	return (s32_t) ((s64_t)ticks * USEC_PER_SEC /
+	       (s64_t)CONFIG_SYS_CLOCK_TICKS_PER_SEC);
+#else
+	__ASSERT(ticks == 0, "ticks not zero");
+	return 0;
+#endif
+}
+
 /* added tick needed to account for tick in progress */
 #define _TICK_ALIGN 1
 

kernel/sched.c

@@ -969,15 +969,31 @@ s32_t z_impl_k_sleep(int ms)
 }
 
 #ifdef CONFIG_USERSPACE
-Z_SYSCALL_HANDLER(k_sleep, duration)
+Z_SYSCALL_HANDLER(k_sleep, ms)
 {
 	/* FIXME there were some discussions recently on whether we should
 	 * relax this, thread would be unscheduled until k_wakeup issued
 	 */
-	Z_OOPS(Z_SYSCALL_VERIFY_MSG(duration != K_FOREVER,
+	Z_OOPS(Z_SYSCALL_VERIFY_MSG(ms != K_FOREVER,
 				    "sleeping forever not allowed"));
 
-	return z_impl_k_sleep(duration);
+	return z_impl_k_sleep(ms);
+}
+#endif
+
+s32_t z_impl_k_usleep(int us)
+{
+	s32_t ticks;
+
+	ticks = z_us_to_ticks(us);
+	ticks = z_tick_sleep(ticks);
+	return __ticks_to_us(ticks);
+}
+
+#ifdef CONFIG_USERSPACE
+Z_SYSCALL_HANDLER(k_usleep, us)
+{
+	return z_impl_k_usleep(us);
 }
 #endif