Merge branch 'refactor/systimer_hal_support_other_xtal' into 'master'

systimer: refactor hal to accomodate more xtal choices

Closes IDF-5643

See merge request espressif/esp-idf!19175

components/esp_hw_support/CMakeLists.txt

@@ -40,6 +40,10 @@ if(NOT BOOTLOADER_BUILD)
         list(APPEND srcs "esp_async_memcpy.c")
     endif()
 
+    if(CONFIG_SOC_SYSTIMER_SUPPORTED)
+        list(APPEND srcs "port/${target}/systimer.c")
+    endif()
+
 else()
     # Requires "_esp_error_check_failed()" function
     list(APPEND priv_requires "esp_system")

components/esp_hw_support/include/esp_private/systimer.h

@@ -0,0 +1,33 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Convert ticks to microseconds
+ *
+ * @param ticks ticks to convert
+ * @return microseconds
+ */
+uint64_t systimer_ticks_to_us(uint64_t ticks) __attribute__((const));
+
+/**
+ * @brief Convert microseconds to ticks
+ *
+ * @param us microseconds to convert
+ * @return ticks
+ */
+uint64_t systimer_us_to_ticks(uint64_t us) __attribute__((const));
+
+#ifdef __cplusplus
+}
+#endif

components/esp_hw_support/linker.lf

@@ -28,3 +28,5 @@ entries:
         gdma: gdma_stop (noflash)
         gdma: gdma_append (noflash)
         gdma: gdma_reset (noflash)
+    if SOC_SYSTIMER_SUPPORTED = y:
+        systimer (noflash)

components/esp_hw_support/port/esp32c2/systimer.c

@@ -0,0 +1,37 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include "esp_private/systimer.h"
+
+/**
+ * @brief systimer's clock source is fixed to XTAL (40MHz/26MHz), and has a fixed fractional divider (2.5).
+ *        So the resolution of the systimer is 40MHz/2.5 = 16MHz, or 26MHz/2.5 = 10.4MHz.
+ */
+
+#if CONFIG_ESP32C2_XTAL_FREQ_40
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks / 16;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 16;
+}
+#elif CONFIG_ESP32C2_XTAL_FREQ_26
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks * 5 / 52;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 52 / 5;
+}
+#else
+#error "Unsupported XTAL frequency by systimer"
+#endif // CONFIG_ESP32C2_XTAL_FREQ_xx

components/esp_hw_support/port/esp32c3/systimer.c

@@ -0,0 +1,22 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_private/systimer.h"
+
+/**
+ * @brief systimer's clock source is fixed to XTAL (40MHz), and has a fixed fractional divider (2.5).
+ *        So the resolution of the systimer is 40MHz/2.5 = 16MHz.
+ */
+
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks / 16;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 16;
+}

components/esp_hw_support/port/esp32h2/systimer.c

@@ -0,0 +1,22 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_private/systimer.h"
+
+/**
+ * @brief systimer's clock source is fixed to XTAL (40MHz), and has a fixed fractional divider (2.5).
+ *        So the resolution of the systimer is 40MHz/2.5 = 16MHz.
+ */
+
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks / 16;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 16;
+}

components/esp_hw_support/port/esp32s2/systimer.c

@@ -0,0 +1,22 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_private/systimer.h"
+
+/**
+ * @brief systimer's clock source can be switch between XTAL (40MHz) and APB (80MHz).
+ *        But the resolution of the systimer is configured to fix to 80MHz.
+ */
+
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks / 80;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 80;
+}

components/esp_hw_support/port/esp32s3/systimer.c

@@ -0,0 +1,22 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_private/systimer.h"
+
+/**
+ * @brief systimer's clock source is fixed to XTAL (40MHz), and has a fixed fractional divider (2.5).
+ *        So the resolution of the systimer is 40MHz/2.5 = 16MHz.
+ */
+
+uint64_t systimer_ticks_to_us(uint64_t ticks)
+{
+    return ticks / 16;
+}
+
+uint64_t systimer_us_to_ticks(uint64_t us)
+{
+    return us * 16;
+}

components/esp_rom/CMakeLists.txt

@@ -28,6 +28,10 @@ if(CONFIG_IDF_TARGET_ARCH_XTENSA)
     list(APPEND sources "patches/esp_rom_longjmp.S")
 endif()
 
+if(CONFIG_SOC_SYSTIMER_SUPPORTED)
+    list(APPEND sources "patches/esp_rom_systimer.c")
+endif()
+
 idf_component_register(SRCS ${sources}
                        INCLUDE_DIRS ${include_dirs}
                        PRIV_REQUIRES ${private_required_comp}

components/esp_rom/esp32c2/ld/esp32c2.rom.ld

@@ -211,20 +211,21 @@ PROVIDE( wdt_hal_handle_intr = 0x40000298 );
 PROVIDE( wdt_hal_feed = 0x4000029c );
 PROVIDE( wdt_hal_set_flashboot_en = 0x400002a0 );
 PROVIDE( wdt_hal_is_enabled = 0x400002a4 );
-PROVIDE( systimer_hal_init = 0x400002a8 );
 PROVIDE( systimer_hal_get_counter_value = 0x400002ac );
-PROVIDE( systimer_hal_get_time = 0x400002b0 );
-PROVIDE( systimer_hal_set_alarm_target = 0x400002b4 );
-PROVIDE( systimer_hal_set_alarm_period = 0x400002b8 );
 PROVIDE( systimer_hal_get_alarm_value = 0x400002bc );
 PROVIDE( systimer_hal_enable_alarm_int = 0x400002c0 );
-PROVIDE( systimer_hal_on_apb_freq_update = 0x400002c4 );
-PROVIDE( systimer_hal_counter_value_advance = 0x400002c8 );
 PROVIDE( systimer_hal_enable_counter = 0x400002cc );
 PROVIDE( systimer_hal_select_alarm_mode = 0x400002d0 );
 PROVIDE( systimer_hal_connect_alarm_counter = 0x400002d4 );
 PROVIDE( systimer_hal_counter_can_stall_by_cpu = 0x400002d8 );
 
+/* The following ROM functions are commented out because they're patched in the esp_rom_systimer.c */
+/* PROVIDE( systimer_hal_init = 0x400002a8 ); */
+/* PROVIDE( systimer_hal_get_time = 0x400002b0 ); */
+/* PROVIDE( systimer_hal_set_alarm_target = 0x400002b4 ); */
+/* PROVIDE( systimer_hal_set_alarm_period = 0x400002b8 ); */
+/* PROVIDE( systimer_hal_counter_value_advance = 0x400002c8 ); */
+
 
 /***************************************
  Group heap

components/esp_rom/linker.lf

@@ -3,3 +3,5 @@ archive: libesp_rom.a
 entries:
     esp_rom_spiflash (noflash)
     esp_rom_regi2c (noflash)
+    if SOC_SYSTIMER_SUPPORTED = y:
+        esp_rom_systimer (noflash)

components/esp_rom/patches/esp_rom_systimer.c

@@ -0,0 +1,67 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include <stddef.h>
+#include "hal/systimer_hal.h"
+#include "hal/systimer_ll.h"
+
+#if CONFIG_HAL_SYSTIMER_USE_ROM_IMPL
+
+#if CONFIG_IDF_TARGET_ESP32C2
+void systimer_hal_init(systimer_hal_context_t *hal)
+{
+    hal->dev = &SYSTIMER;
+    systimer_ll_enable_clock(hal->dev, true);
+}
+
+void systimer_hal_deinit(systimer_hal_context_t *hal)
+{
+    systimer_ll_enable_clock(hal->dev, false);
+    hal->dev = NULL;
+}
+
+void systimer_hal_set_tick_rate_ops(systimer_hal_context_t *hal, systimer_hal_tick_rate_ops_t *ops)
+{
+    hal->ticks_to_us = ops->ticks_to_us;
+    hal->us_to_ticks = ops->us_to_ticks;
+}
+
+uint64_t systimer_hal_get_time(systimer_hal_context_t *hal, uint32_t counter_id)
+{
+    return hal->ticks_to_us(systimer_hal_get_counter_value(hal, counter_id));
+}
+
+void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_id, uint64_t target)
+{
+    systimer_counter_value_t alarm = {
+        .val = hal->us_to_ticks(target),
+    };
+    systimer_ll_enable_alarm(hal->dev, alarm_id, false);
+    systimer_ll_set_alarm_target(hal->dev, alarm_id, alarm.val);
+    systimer_ll_apply_alarm_value(hal->dev, alarm_id);
+    systimer_ll_enable_alarm(hal->dev, alarm_id, true);
+}
+
+void systimer_hal_set_alarm_period(systimer_hal_context_t *hal, uint32_t alarm_id, uint32_t period)
+{
+    systimer_ll_enable_alarm(hal->dev, alarm_id, false);
+    systimer_ll_set_alarm_period(hal->dev, alarm_id, hal->us_to_ticks(period));
+    systimer_ll_apply_alarm_value(hal->dev, alarm_id);
+    systimer_ll_enable_alarm(hal->dev, alarm_id, true);
+}
+
+void systimer_hal_counter_value_advance(systimer_hal_context_t *hal, uint32_t counter_id, int64_t time_us)
+{
+    systimer_counter_value_t new_count = {
+        .val = systimer_hal_get_counter_value(hal, counter_id) + hal->us_to_ticks(time_us),
+    };
+    systimer_ll_set_counter_value(hal->dev, counter_id, new_count.val);
+    systimer_ll_apply_counter_value(hal->dev, counter_id);
+}
+#endif // CONFIG_IDF_TARGET_ESP32C2
+
+#endif // CONFIG_HAL_SYSTIMER_USE_ROM_IMPL

components/esp_timer/src/esp_timer_impl_systimer.c

@@ -4,7 +4,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "sys/param.h"
+#include <sys/param.h>
+#include "sdkconfig.h"
 #include "esp_timer_impl.h"
 #include "esp_err.h"
 #include "esp_timer.h"
@@ -15,6 +16,8 @@
 #include "soc/periph_defs.h"
 #include "soc/soc_caps.h"
 #include "esp_private/esp_clk.h"
+#include "esp_private/systimer.h"
+#include "esp_private/periph_ctrl.h"
 #include "freertos/FreeRTOS.h"
 #include "hal/systimer_ll.h"
 #include "hal/systimer_types.h"
@@ -64,7 +67,9 @@ uint64_t IRAM_ATTR esp_timer_impl_get_counter_reg(void)
 
 int64_t IRAM_ATTR esp_timer_impl_get_time(void)
 {
-    return systimer_hal_get_counter_value(&systimer_hal, SYSTIMER_LL_COUNTER_CLOCK) * SYSTIMER_LL_TICKS_PER_US_DIV / SYSTIMER_LL_TICKS_PER_US;
+    // we hope the execution time of this function won't > 1us
+    // thus, to save one function call, we didn't use the existing `systimer_hal_get_time`
+    return systimer_hal.ticks_to_us(systimer_hal_get_counter_value(&systimer_hal, SYSTIMER_LL_COUNTER_CLOCK));
 }
 
 int64_t esp_timer_get_time(void) __attribute__((alias("esp_timer_impl_get_time")));
@@ -96,7 +101,7 @@ static void IRAM_ATTR timer_alarm_isr(void *arg)
 
 void IRAM_ATTR esp_timer_impl_update_apb_freq(uint32_t apb_ticks_per_us)
 {
-#if !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+#if !SOC_SYSTIMER_FIXED_DIVIDER
     systimer_hal_on_apb_freq_update(&systimer_hal, apb_ticks_per_us);
 #endif
 }
@@ -105,7 +110,7 @@ void esp_timer_impl_set(uint64_t new_us)
 {
     portENTER_CRITICAL_SAFE(&s_time_update_lock);
     systimer_counter_value_t new_count = {
-        .val = new_us * SYSTIMER_LL_TICKS_PER_US / SYSTIMER_LL_TICKS_PER_US_DIV
+        .val = systimer_hal.us_to_ticks(new_us),
     };
     systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_CLOCK, new_count.val);
     systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_CLOCK);
@@ -121,9 +126,15 @@ void esp_timer_impl_advance(int64_t time_diff_us)
 
 esp_err_t esp_timer_impl_early_init(void)
 {
+    periph_module_enable(PERIPH_SYSTIMER_MODULE);
+    systimer_hal_tick_rate_ops_t ops = {
+        .ticks_to_us = systimer_ticks_to_us,
+        .us_to_ticks = systimer_us_to_ticks,
+    };
     systimer_hal_init(&systimer_hal);
+    systimer_hal_set_tick_rate_ops(&systimer_hal, &ops);
 
-#if !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+#if !SOC_SYSTIMER_FIXED_DIVIDER
     assert(esp_clk_xtal_freq() == (40 * 1000000) &&
            "update the step for xtal to support other XTAL:APB frequency ratios");
     systimer_hal_set_steps_per_tick(&systimer_hal, 0, 2); // for xtal

components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c

@@ -15,10 +15,12 @@
 #include "riscv/riscv_interrupts.h"
 #include "riscv/interrupt.h"
 #include "esp_private/crosscore_int.h"
+#include "esp_private/esp_int_wdt.h"
+#include "esp_private/periph_ctrl.h"
+#include "esp_private/systimer.h"
 #include "esp_attr.h"
 #include "esp_system.h"
 #include "esp_heap_caps_init.h"
-#include "esp_private/esp_int_wdt.h"
 #include "esp_task_wdt.h"
 #include "esp_task.h"
 #include "esp_intr_alloc.h"
@@ -136,7 +138,13 @@ void vPortSetupTimer(void)
     ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
 
     if (cpuid == 0) {
+        periph_module_enable(PERIPH_SYSTIMER_MODULE);
         systimer_hal_init(&systimer_hal);
+        systimer_hal_tick_rate_ops_t ops = {
+            .ticks_to_us = systimer_ticks_to_us,
+            .us_to_ticks = systimer_us_to_ticks,
+        };
+        systimer_hal_set_tick_rate_ops(&systimer_hal, &ops);
         systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK, 0);
         systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK);
 
@@ -211,7 +219,7 @@ IRAM_ATTR void SysTickIsrHandler(void *arg)
 
 extern void app_main(void);
 
-static void main_task(void* args)
+static void main_task(void *args)
 {
 #if !CONFIG_FREERTOS_UNICORE
     // Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
@@ -423,7 +431,7 @@ void *pvPortMalloc( size_t xSize )
     return heap_caps_malloc(xSize, FREERTOS_SMP_MALLOC_CAPS);
 }
 
-void vPortFree( void * pv )
+void vPortFree( void *pv )
 {
     heap_caps_free(pv);
 }
@@ -599,7 +607,7 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
 // ------- Thread Local Storage Pointers Deletion Callbacks -------
 
 #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
-void vPortTLSPointersDelCb( void * pxTCB )
+void vPortTLSPointersDelCb( void *pxTCB )
 {
     /* Typecast pxTCB to StaticTask_t type to access TCB struct members.
      * pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
@@ -612,10 +620,8 @@ void vPortTLSPointersDelCb( void * pxTCB )
     /* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
      * to access all TLS pointers and their respective TLS deletion callbacks.
      */
-    for( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ )
+    for ( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ ) {
-    {
+        if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) {  //If del cb is set
-        if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL )    //If del cb is set
-        {
             /* In case the TLSP deletion callback has been overwritten by a TLS pointer, gracefully abort. */
             if ( !esp_ptr_executable( pvThreadLocalStoragePointersDelCallback[ x ] ) ) {
                 ESP_LOGE("FreeRTOS", "Fatal error: TLSP deletion callback at index %d overwritten with non-excutable pointer %p", x, pvThreadLocalStoragePointersDelCallback[ x ]);
@@ -642,7 +648,7 @@ BaseType_t xPortSysTickHandler(void)
     BaseType_t ret = xTaskIncrementTick();
     //Manually call the IDF tick hooks
     esp_vApplicationTickHook();
-    if(ret != pdFALSE) {
+    if (ret != pdFALSE) {
         portYIELD_FROM_ISR();
     } else {
         traceISR_EXIT();

components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c

@@ -18,6 +18,8 @@
 #include "xtensa/config/core-isa.h"
 #include "xtensa/xtruntime.h"
 #include "esp_private/esp_int_wdt.h"
+#include "esp_private/systimer.h"
+#include "esp_private/periph_ctrl.h"
 #include "esp_heap_caps.h"
 #include "esp_system.h"
 #include "esp_task.h"
@@ -215,7 +217,13 @@ void vPortSetupTimer(void)
     ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
 
     if (cpuid == 0) {
+        periph_module_enable(PERIPH_SYSTIMER_MODULE);
         systimer_hal_init(&systimer_hal);
+        systimer_hal_tick_rate_ops_t ops = {
+            .ticks_to_us = systimer_ticks_to_us,
+            .us_to_ticks = systimer_us_to_ticks,
+        };
+        systimer_hal_set_tick_rate_ops(&systimer_hal, &ops);
         systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK, 0);
         systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK);
 
@@ -292,7 +300,7 @@ static const char *TAG = "cpu_start";
 
 extern void app_main(void);
 
-static void main_task(void* args)
+static void main_task(void *args)
 {
 #if !CONFIG_FREERTOS_UNICORE
     // Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
@@ -487,7 +495,7 @@ void *pvPortMalloc( size_t xSize )
     return heap_caps_malloc(xSize, FREERTOS_SMP_MALLOC_CAPS);
 }
 
-void vPortFree( void * pv )
+void vPortFree( void *pv )
 {
     heap_caps_free(pv);
 }
@@ -701,9 +709,9 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
 
 void _xt_coproc_release(volatile void *coproc_sa_base, BaseType_t xCoreID);
 
-void vPortCleanUpCoprocArea( void * pxTCB )
+void vPortCleanUpCoprocArea( void *pxTCB )
 {
-    StackType_t * coproc_area;
+    StackType_t *coproc_area;
     BaseType_t xCoreID;
 
     /* Calculate the coproc save area in the stack from the TCB base */
@@ -724,7 +732,7 @@ void vPortCleanUpCoprocArea( void * pxTCB )
 // ------- Thread Local Storage Pointers Deletion Callbacks -------
 
 #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
-void vPortTLSPointersDelCb( void * pxTCB )
+void vPortTLSPointersDelCb( void *pxTCB )
 {
     /* Typecast pxTCB to StaticTask_t type to access TCB struct members.
      * pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
@@ -737,10 +745,8 @@ void vPortTLSPointersDelCb( void * pxTCB )
     /* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
      * to access all TLS pointers and their respective TLS deletion callbacks.
      */
-    for( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ )
+    for ( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ ) {
-    {
+        if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) {  //If del cb is set
-        if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL )    //If del cb is set
-        {
             /* In case the TLSP deletion callback has been overwritten by a TLS pointer, gracefully abort. */
             if ( !esp_ptr_executable( pvThreadLocalStoragePointersDelCallback[ x ] ) ) {
                 // We call EARLY log here as currently portCLEAN_UP_TCB() is called in a critical section

components/freertos/FreeRTOS-Kernel/portable/port_systick.c

@@ -11,6 +11,8 @@
 #include "esp_intr_alloc.h"
 #include "esp_err.h"
 #include "esp_log.h"
+#include "esp_private/systimer.h"
+#include "esp_private/periph_ctrl.h"
 #include "sdkconfig.h"
 #ifdef CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
 #include "soc/periph_defs.h"
@@ -80,7 +82,13 @@ void vPortSetupTimer(void)
     ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
 
     if (cpuid == 0) {
+        periph_module_enable(PERIPH_SYSTIMER_MODULE);
         systimer_hal_init(&systimer_hal);
+        systimer_hal_tick_rate_ops_t ops = {
+            .ticks_to_us = systimer_ticks_to_us,
+            .us_to_ticks = systimer_us_to_ticks,
+        };
+        systimer_hal_set_tick_rate_ops(&systimer_hal, &ops);
         systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK, 0);
         systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK);
 

components/hal/Kconfig

@@ -67,7 +67,7 @@ menu "Hardware Abstraction Layer (HAL) and Low Level (LL)"
 
     config HAL_SYSTIMER_USE_ROM_IMPL
         bool "Use ROM implementation of SysTimer HAL driver"
-        depends on ESP_ROM_HAS_HAL_SYSTIMER && !ESP32C2_XTAL_FREQ_26
+        depends on ESP_ROM_HAS_HAL_SYSTIMER
         default y
         help
             Enable this flag to use HAL functions from ROM instead of ESP-IDF.

components/hal/esp32c2/include/hal/systimer_ll.h

@@ -9,20 +9,11 @@
 #include <stdbool.h>
 #include "soc/systimer_struct.h"
 #include "hal/assert.h"
-#include "sdkconfig.h"
 
-#define SYSTIMER_LL_COUNTER_CLOCK       (0) // Counter used for "wallclock" time
+#define SYSTIMER_LL_COUNTER_CLOCK       0 // Counter used by esptimer, to generate the system level wall clock
-#define SYSTIMER_LL_COUNTER_OS_TICK     (1) // Counter used for OS tick
+#define SYSTIMER_LL_COUNTER_OS_TICK     1 // Counter used by RTOS porting layer, to generate the OS tick
-#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 (0) // Alarm used for OS tick of CPU core 0
+#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 0 // Alarm used by OS tick, dedicated for core 0
-#define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
+#define SYSTIMER_LL_ALARM_CLOCK         2 // Alarm used by esptimer
-
-#ifdef CONFIG_ESP32C2_XTAL_FREQ_26
-#define SYSTIMER_LL_TICKS_PER_US        (52) // (26 / 2.5) = 10.4 = 52/5 systimer ticks per us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (5)
-#else
-#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (1)
-#endif // ESP32C2_XTAL_FREQ_*
 
 #ifdef __cplusplus
 extern "C" {

components/hal/esp32c3/include/hal/systimer_ll.h

@@ -10,13 +10,10 @@
 #include "soc/systimer_struct.h"
 #include "hal/assert.h"
 
-#define SYSTIMER_LL_COUNTER_CLOCK       (0) // Counter used for "wallclock" time
+#define SYSTIMER_LL_COUNTER_CLOCK       0 // Counter used by esptimer, to generate the system level wall clock
-#define SYSTIMER_LL_COUNTER_OS_TICK     (1) // Counter used for OS tick
+#define SYSTIMER_LL_COUNTER_OS_TICK     1 // Counter used by RTOS porting layer, to generate the OS tick
-#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 (0) // Alarm used for OS tick of CPU core 0
+#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 0 // Alarm used by OS tick, dedicated for core 0
-#define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
+#define SYSTIMER_LL_ALARM_CLOCK         2 // Alarm used by esptimer
-
-#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (1)
 
 #ifdef __cplusplus
 extern "C" {

components/hal/esp32h2/include/hal/systimer_ll.h

@@ -10,13 +10,10 @@
 #include "soc/systimer_struct.h"
 #include "hal/assert.h"
 
-#define SYSTIMER_LL_COUNTER_CLOCK       (0) // Counter used for "wallclock" time
+#define SYSTIMER_LL_COUNTER_CLOCK       0 // Counter used by esptimer, to generate the system level wall clock
-#define SYSTIMER_LL_COUNTER_OS_TICK     (1) // Counter used for OS tick
+#define SYSTIMER_LL_COUNTER_OS_TICK     1 // Counter used by RTOS porting layer, to generate the OS tick
-#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 (0) // Alarm used for OS tick of CPU core 0
+#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 0 // Alarm used by OS tick, dedicated for core 0
-#define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
+#define SYSTIMER_LL_ALARM_CLOCK         2 // Alarm used by esptimer
-
-#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (1)
 
 #ifdef __cplusplus
 extern "C" {

components/hal/esp32s2/include/hal/systimer_ll.h

@@ -10,11 +10,8 @@
 #include "soc/systimer_struct.h"
 #include "hal/assert.h"
 
-#define SYSTIMER_LL_COUNTER_CLOCK (0) // Counter used for "wallclock" time
+#define SYSTIMER_LL_COUNTER_CLOCK 0 // Counter used by esptimer, to generate the system level wall clock
-#define SYSTIMER_LL_ALARM_CLOCK   (2) // Alarm used for "wallclock" time
+#define SYSTIMER_LL_ALARM_CLOCK   2 // Alarm used by esptimer
-
-#define SYSTIMER_LL_TICKS_PER_US  (80) // 80 systimer ticks == 1us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (1)
 
 #ifdef __cplusplus
 extern "C" {

components/hal/esp32s3/include/hal/systimer_ll.h

@@ -10,14 +10,11 @@
 #include "soc/systimer_struct.h"
 #include "hal/assert.h"
 
-#define SYSTIMER_LL_COUNTER_CLOCK       (0) // Counter used for "wallclock" time
+#define SYSTIMER_LL_COUNTER_CLOCK       0 // Counter used by esptimer, to generate the system level wall clock
-#define SYSTIMER_LL_COUNTER_OS_TICK     (1) // Counter used for OS tick
+#define SYSTIMER_LL_COUNTER_OS_TICK     1 // Counter used by RTOS porting layer, to generate the OS tick
-#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 (0) // Alarm used for OS tick of CPU core 0
+#define SYSTIMER_LL_ALARM_OS_TICK_CORE0 0 // Alarm used by OS tick, dedicated for core 0
-#define SYSTIMER_LL_ALARM_OS_TICK_CORE1 (1) // Alarm used for OS tick of CPU core 1
+#define SYSTIMER_LL_ALARM_OS_TICK_CORE1 1 // Alarm used by OS tick, dedicated for core 1
-#define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
+#define SYSTIMER_LL_ALARM_CLOCK         2 // Alarm used by esptimer
-
-#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
-#define SYSTIMER_LL_TICKS_PER_US_DIV    (1)
 
 #ifdef __cplusplus
 extern "C" {

components/hal/include/hal/systimer_hal.h

@@ -8,23 +8,51 @@
 
 #include <stdint.h>
 #include <stdbool.h>
-#include "soc/soc_caps.h"
-#include "soc/systimer_struct.h"
 #include "hal/systimer_types.h"
+#include "soc/soc_caps.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+typedef struct systimer_dev_t *systimer_soc_handle_t;   // systimer SOC layer handle
+
+// the definitions of the following functions are provided by esp_hw_support component, see esp_hw_support/port/${TARGET}/systimer.c
+typedef uint64_t (*ticks_to_us_func_t)(uint64_t ticks); // prototype of function to convert ticks to microseconds
+typedef uint64_t (*us_to_ticks_func_t)(uint64_t us);    // prototype of function to convert microseconds to ticks
+
+/**
+ * @brief systimer HAL context structure
+ */
 typedef struct {
-    systimer_dev_t *dev;
+    systimer_soc_handle_t dev;      /*!< systimer peripheral base address */
+    ticks_to_us_func_t ticks_to_us; /*!< function to convert ticks to microseconds */
+    us_to_ticks_func_t us_to_ticks; /*!< function to convert microseconds to ticks */
 } systimer_hal_context_t;
 
+/**
+ * @brief systimer HAL configuration structure
+ */
+typedef struct {
+    ticks_to_us_func_t ticks_to_us; /*!< function to convert ticks to microseconds */
+    us_to_ticks_func_t us_to_ticks; /*!< function to convert microseconds to ticks */
+} systimer_hal_tick_rate_ops_t;
+
 /**
  * @brief initialize systimer in HAL layer
  */
 void systimer_hal_init(systimer_hal_context_t *hal);
 
+/**
+ * @brief Deinitialize systimer HAL layer
+ */
+void systimer_hal_deinit(systimer_hal_context_t *hal);
+
+/**
+ * @brief Set tick rate operation functions
+ */
+void systimer_hal_set_tick_rate_ops(systimer_hal_context_t *hal, systimer_hal_tick_rate_ops_t *ops);
+
 /**
  * @brief enable systimer counter
  */
@@ -85,7 +113,7 @@ void systimer_hal_connect_alarm_counter(systimer_hal_context_t *hal, uint32_t al
  */
 void systimer_hal_counter_can_stall_by_cpu(systimer_hal_context_t *hal, uint32_t counter_id, uint32_t cpu_id, bool can);
 
-#if !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+#if !SOC_SYSTIMER_FIXED_DIVIDER
 /**
  * @brief set increase steps for systimer counter on different clock source
  */

components/hal/systimer_hal.c

@@ -4,21 +4,32 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include <stddef.h>
 #include <sys/param.h>
 #include "soc/soc_caps.h"
 #include "hal/systimer_hal.h"
 #include "hal/systimer_ll.h"
 #include "hal/systimer_types.h"
-#include "hal/clk_gate_ll.h"
 #include "hal/assert.h"
 
 void systimer_hal_init(systimer_hal_context_t *hal)
 {
     hal->dev = &SYSTIMER;
-    periph_ll_enable_clk_clear_rst(PERIPH_SYSTIMER_MODULE);
     systimer_ll_enable_clock(hal->dev, true);
 }
 
+void systimer_hal_deinit(systimer_hal_context_t *hal)
+{
+    systimer_ll_enable_clock(hal->dev, false);
+    hal->dev = NULL;
+}
+
+void systimer_hal_set_tick_rate_ops(systimer_hal_context_t *hal, systimer_hal_tick_rate_ops_t *ops)
+{
+    hal->ticks_to_us = ops->ticks_to_us;
+    hal->us_to_ticks = ops->us_to_ticks;
+}
+
 uint64_t systimer_hal_get_counter_value(systimer_hal_context_t *hal, uint32_t counter_id)
 {
     uint32_t lo, lo_start, hi;
@@ -47,14 +58,14 @@ uint64_t systimer_hal_get_counter_value(systimer_hal_context_t *hal, uint32_t co
 
 uint64_t systimer_hal_get_time(systimer_hal_context_t *hal, uint32_t counter_id)
 {
-    return systimer_hal_get_counter_value(hal, counter_id) * SYSTIMER_LL_TICKS_PER_US_DIV / SYSTIMER_LL_TICKS_PER_US;
+    return hal->ticks_to_us(systimer_hal_get_counter_value(hal, counter_id));
 }
 
 #if SOC_SYSTIMER_ALARM_MISS_COMPENSATE
 void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_id, uint64_t target)
 {
     systimer_counter_value_t alarm = {
-        .val = target * SYSTIMER_LL_TICKS_PER_US / SYSTIMER_LL_TICKS_PER_US_DIV
+        .val = hal->us_to_ticks(target),
     };
     systimer_ll_enable_alarm(hal->dev, alarm_id, false);
     systimer_ll_set_alarm_target(hal->dev, alarm_id, alarm.val);
@@ -64,13 +75,11 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
 
 #else // SOC_SYSTIMER_ALARM_MISS_COMPENSATE
 
-_Static_assert(SYSTIMER_LL_TICKS_PER_US_DIV == 1, "SYSTIMER_LL_TICKS_PER_US_DIV > 1 && !SOC_SYSTIMER_ALARM_MISS_COMPENSATE hasn't been supported");
-
 void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_id, uint64_t timestamp)
 {
-    int64_t offset = SYSTIMER_LL_TICKS_PER_US * 2;
+    int64_t offset = hal->us_to_ticks(1) * 2;
     uint64_t now_time = systimer_hal_get_counter_value(hal, 0);
-    systimer_counter_value_t alarm = { .val = MAX(timestamp * SYSTIMER_LL_TICKS_PER_US, now_time + offset) };
+    systimer_counter_value_t alarm = { .val = MAX(hal->us_to_ticks(timestamp), now_time + offset) };
     do {
         systimer_ll_enable_alarm(hal->dev, alarm_id, false);
         systimer_ll_set_alarm_target(hal->dev, alarm_id, alarm.val);
@@ -79,7 +88,7 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
         int64_t delta = (int64_t)alarm.val - (int64_t)now_time;
         if (delta <= 0 && !systimer_ll_is_alarm_int_fired(hal->dev, alarm_id)) {
             // new alarm is less than the counter and the interrupt flag is not set
-            offset += -1 * delta + SYSTIMER_LL_TICKS_PER_US * 2;
+            offset += -1 * delta + hal->us_to_ticks(1) * 2;
             alarm.val = now_time + offset;
         } else {
             // finish if either (alarm > counter) or the interrupt flag is already set.
@@ -92,7 +101,7 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
 void systimer_hal_set_alarm_period(systimer_hal_context_t *hal, uint32_t alarm_id, uint32_t period)
 {
     systimer_ll_enable_alarm(hal->dev, alarm_id, false);
-    systimer_ll_set_alarm_period(hal->dev, alarm_id, period * SYSTIMER_LL_TICKS_PER_US / SYSTIMER_LL_TICKS_PER_US_DIV);
+    systimer_ll_set_alarm_period(hal->dev, alarm_id, hal->us_to_ticks(period));
     systimer_ll_apply_alarm_value(hal->dev, alarm_id);
     systimer_ll_enable_alarm(hal->dev, alarm_id, true);
 }
@@ -110,8 +119,7 @@ void systimer_hal_enable_alarm_int(systimer_hal_context_t *hal, uint32_t alarm_i
 void systimer_hal_counter_value_advance(systimer_hal_context_t *hal, uint32_t counter_id, int64_t time_us)
 {
     systimer_counter_value_t new_count = {
-        .val = systimer_hal_get_counter_value(hal, counter_id)
+        .val = systimer_hal_get_counter_value(hal, counter_id) + hal->us_to_ticks(time_us),
-                + time_us * SYSTIMER_LL_TICKS_PER_US / SYSTIMER_LL_TICKS_PER_US_DIV
     };
     systimer_ll_set_counter_value(hal->dev, counter_id, new_count.val);
     systimer_ll_apply_counter_value(hal->dev, counter_id);
@@ -146,9 +154,7 @@ void systimer_hal_counter_can_stall_by_cpu(systimer_hal_context_t *hal, uint32_t
     systimer_ll_counter_can_stall_by_cpu(hal->dev, counter_id, cpu_id, can);
 }
 
-#if !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+#if !SOC_SYSTIMER_FIXED_DIVIDER
-
-_Static_assert(SYSTIMER_LL_TICKS_PER_US_DIV == 1, "SYSTIMER_LL_TICKS_PER_US_DIV > 1 && !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US hasn't been supported");
 
 void systimer_hal_set_steps_per_tick(systimer_hal_context_t *hal, int clock_source, uint32_t steps)
 {
@@ -178,9 +184,9 @@ void systimer_hal_on_apb_freq_update(systimer_hal_context_t *hal, uint32_t apb_t
     * If this was called when switching APB clock to XTAL, need to adjust
     * XTAL_STEP value accordingly.
     */
-    if (apb_ticks_per_us != SYSTIMER_LL_TICKS_PER_US) {
+    if (apb_ticks_per_us != hal->us_to_ticks(1)) {
-        HAL_ASSERT((SYSTIMER_LL_TICKS_PER_US % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
+        HAL_ASSERT((hal->us_to_ticks(1) % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
-        systimer_ll_set_step_for_xtal(hal->dev, SYSTIMER_LL_TICKS_PER_US / apb_ticks_per_us);
+        systimer_ll_set_step_for_xtal(hal->dev, hal->us_to_ticks(1) / apb_ticks_per_us);
     }
 }
-#endif // !SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+#endif // !SOC_SYSTIMER_FIXED_DIVIDER

components/soc/esp32c2/include/soc/Kconfig.soc_caps.in

@@ -63,6 +63,10 @@ config SOC_SECURE_BOOT_SUPPORTED
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_ADC_DIG_CTRL_SUPPORTED
     bool
     default y
@@ -391,10 +395,6 @@ config SOC_MEMSPI_SRC_FREQ_15M_SUPPORTED
     bool
     default y
 
-config SOC_SYSTIMER_SUPPORTED
-    bool
-    default y
-
 config SOC_SYSTIMER_COUNTER_NUM
     int
     default 2
@@ -411,7 +411,7 @@ config SOC_SYSTIMER_BIT_WIDTH_HI
     int
     default 20
 
-config SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+config SOC_SYSTIMER_FIXED_DIVIDER
     bool
     default y
 

components/soc/esp32c2/include/soc/soc_caps.h

@@ -40,6 +40,7 @@
 #define SOC_ECC_SUPPORTED               1
 #define SOC_FLASH_ENC_SUPPORTED         1
 #define SOC_SECURE_BOOT_SUPPORTED       1
+#define SOC_SYSTIMER_SUPPORTED          1
 
 /*-------------------------- ADC CAPS -------------------------------*/
 /*!< SAR ADC Module*/
@@ -203,14 +204,13 @@
 #define SOC_MEMSPI_SRC_FREQ_15M_SUPPORTED         1
 
 /*-------------------------- SYSTIMER CAPS ----------------------------------*/
-#define SOC_SYSTIMER_SUPPORTED              1
+#define SOC_SYSTIMER_COUNTER_NUM            2  // Number of counter units
-#define SOC_SYSTIMER_COUNTER_NUM            (2)  // Number of counter units
+#define SOC_SYSTIMER_ALARM_NUM              3  // Number of alarm units
-#define SOC_SYSTIMER_ALARM_NUM              (3)  // Number of alarm units
+#define SOC_SYSTIMER_BIT_WIDTH_LO           32 // Bit width of systimer low part
-#define SOC_SYSTIMER_BIT_WIDTH_LO           (32) // Bit width of systimer low part
+#define SOC_SYSTIMER_BIT_WIDTH_HI           20 // Bit width of systimer high part
-#define SOC_SYSTIMER_BIT_WIDTH_HI           (20) // Bit width of systimer high part
+#define SOC_SYSTIMER_FIXED_DIVIDER          1  // Clock source divider is fixed: 2.5
-#define SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US (1)  // Number of ticks per microsecond is fixed (16 ticks/us if 40MHz XTAL; 10.4 ticks/us if 26MHz XTAL)
+#define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level interrupt
-#define SOC_SYSTIMER_INT_LEVEL              (1)  // Systimer peripheral uses level interrupt
+#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
-#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  (1)  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
 
 /*--------------------------- TIMER GROUP CAPS ---------------------------------------*/
 #define SOC_TIMER_GROUPS                  (1U)

components/soc/esp32c2/include/soc/systimer_struct.h

@@ -324,7 +324,7 @@ typedef union {
 } systimer_date_reg_t;
 
 
-typedef struct {
+typedef struct systimer_dev_t {
     volatile systimer_conf_reg_t conf;
     volatile systimer_unit_op_reg_t unit_op[2];
     volatile systimer_unit_load_val_reg_t unit_load_val[2];

components/soc/esp32c3/include/soc/Kconfig.soc_caps.in

@@ -75,6 +75,10 @@ config SOC_SDM_SUPPORTED
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_SUPPORT_COEXISTENCE
     bool
     default y
@@ -603,10 +607,6 @@ config SOC_MEMSPI_SRC_FREQ_20M_SUPPORTED
     bool
     default y
 
-config SOC_SYSTIMER_SUPPORTED
-    bool
-    default y
-
 config SOC_SYSTIMER_COUNTER_NUM
     int
     default 2
@@ -623,7 +623,7 @@ config SOC_SYSTIMER_BIT_WIDTH_HI
     int
     default 20
 
-config SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+config SOC_SYSTIMER_FIXED_DIVIDER
     bool
     default y
 

components/soc/esp32c3/include/soc/soc_caps.h

@@ -43,6 +43,7 @@
 #define SOC_I2S_SUPPORTED               1
 #define SOC_RMT_SUPPORTED               1
 #define SOC_SDM_SUPPORTED               1
+#define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_SUPPORT_COEXISTENCE         1
 #define SOC_AES_SUPPORTED               1
 #define SOC_MPI_SUPPORTED               1
@@ -288,14 +289,13 @@
 #define SOC_MEMSPI_SRC_FREQ_20M_SUPPORTED         1
 
 /*-------------------------- SYSTIMER CAPS ----------------------------------*/
-#define SOC_SYSTIMER_SUPPORTED              1
+#define SOC_SYSTIMER_COUNTER_NUM            2  // Number of counter units
-#define SOC_SYSTIMER_COUNTER_NUM            (2)  // Number of counter units
+#define SOC_SYSTIMER_ALARM_NUM              3  // Number of alarm units
-#define SOC_SYSTIMER_ALARM_NUM              (3)  // Number of alarm units
+#define SOC_SYSTIMER_BIT_WIDTH_LO           32 // Bit width of systimer low part
-#define SOC_SYSTIMER_BIT_WIDTH_LO           (32) // Bit width of systimer low part
+#define SOC_SYSTIMER_BIT_WIDTH_HI           20 // Bit width of systimer high part
-#define SOC_SYSTIMER_BIT_WIDTH_HI           (20) // Bit width of systimer high part
+#define SOC_SYSTIMER_FIXED_DIVIDER          1  // Clock source divider is fixed: 2.5
-#define SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US (1)  // Number of ticks per microsecond is fixed (16 ticks/us)
+#define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level interrupt
-#define SOC_SYSTIMER_INT_LEVEL              (1)  // Systimer peripheral uses level interrupt
+#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
-#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  (1)  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
 
 /*--------------------------- TIMER GROUP CAPS ---------------------------------------*/
 #define SOC_TIMER_GROUPS                  (2)

components/soc/esp32c3/include/soc/systimer_struct.h

@@ -323,7 +323,7 @@ typedef union {
 } systimer_date_reg_t;
 
 
-typedef struct {
+typedef struct systimer_dev_t {
     volatile systimer_conf_reg_t conf;
     volatile systimer_unit_op_reg_t unit_op[2];
     volatile systimer_unit_load_val_reg_t unit_load_val[2];

components/soc/esp32h2/include/soc/Kconfig.soc_caps.in

@@ -67,6 +67,10 @@ config SOC_SDM_SUPPORTED
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_AES_SUPPORTED
     bool
     default y
@@ -579,10 +583,6 @@ config SOC_MEMSPI_SRC_FREQ_12M_SUPPORTED
     bool
     default y
 
-config SOC_SYSTIMER_SUPPORTED
-    bool
-    default y
-
 config SOC_SYSTIMER_COUNTER_NUM
     int
     default 2
@@ -599,7 +599,7 @@ config SOC_SYSTIMER_BIT_WIDTH_HI
     int
     default 20
 
-config SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+config SOC_SYSTIMER_FIXED_DIVIDER
     bool
     default y
 

components/soc/esp32h2/include/soc/soc_caps.h

@@ -49,6 +49,7 @@
 #define SOC_I2S_SUPPORTED               1
 #define SOC_RMT_SUPPORTED               1
 #define SOC_SDM_SUPPORTED               1
+#define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_AES_SUPPORTED               1
 #define SOC_MPI_SUPPORTED               1
 #define SOC_SHA_SUPPORTED               1
@@ -293,14 +294,13 @@
 #define SOC_MEMSPI_SRC_FREQ_12M_SUPPORTED         1
 
 /*-------------------------- SYSTIMER CAPS ----------------------------------*/
-#define SOC_SYSTIMER_SUPPORTED              1
+#define SOC_SYSTIMER_COUNTER_NUM            2  // Number of counter units
-#define SOC_SYSTIMER_COUNTER_NUM            (2)  // Number of counter units
+#define SOC_SYSTIMER_ALARM_NUM              3  // Number of alarm units
-#define SOC_SYSTIMER_ALARM_NUM              (3)  // Number of alarm units
+#define SOC_SYSTIMER_BIT_WIDTH_LO           32 // Bit width of systimer low part
-#define SOC_SYSTIMER_BIT_WIDTH_LO           (32) // Bit width of systimer low part
+#define SOC_SYSTIMER_BIT_WIDTH_HI           20 // Bit width of systimer high part
-#define SOC_SYSTIMER_BIT_WIDTH_HI           (20) // Bit width of systimer high part
+#define SOC_SYSTIMER_FIXED_DIVIDER          1  // Clock source divider is fixed: 2.5
-#define SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US (1)  // Number of ticks per microsecond is fixed (16 ticks/us)
+#define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level interrupt
-#define SOC_SYSTIMER_INT_LEVEL              (1)  // Systimer peripheral uses level interrupt
+#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
-#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  (1)  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
 
 /*--------------------------- TIMER GROUP CAPS ---------------------------------------*/
 #define SOC_TIMER_GROUPS                  (2)

components/soc/esp32h2/include/soc/systimer_struct.h

@@ -314,7 +314,7 @@ typedef union {
 } systimer_date_reg_t;
 
 
-typedef struct {
+typedef struct systimer_dev_t {
     volatile systimer_conf_reg_t conf;
     volatile systimer_unit_op_reg_t unit_op[2];
     volatile systimer_unit_load_val_reg_t unit_load_val[2];

components/soc/esp32s2/include/soc/Kconfig.soc_caps.in

@@ -99,6 +99,10 @@ config SOC_SDM_SUPPORTED
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_SUPPORT_COEXISTENCE
     bool
     default n
@@ -619,10 +623,6 @@ config SOC_SYSTIMER_BIT_WIDTH_HI
     int
     default 32
 
-config SOC_SYSTIMER_SUPPORTED
-    bool
-    default y
-
 config SOC_TIMER_GROUPS
     int
     default 2

components/soc/esp32s2/include/soc/soc_caps.h

@@ -63,6 +63,7 @@
 #define SOC_I2S_SUPPORTED               1
 #define SOC_RMT_SUPPORTED               1
 #define SOC_SDM_SUPPORTED               1
+#define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_SUPPORT_COEXISTENCE         0
 #define SOC_AES_SUPPORTED               1
 #define SOC_MPI_SUPPORTED               1
@@ -273,13 +274,12 @@
 #define SOC_MEMSPI_SRC_FREQ_20M_SUPPORTED         1
 
 /*-------------------------- SYSTIMER CAPS ----------------------------------*/
-#define SOC_SYSTIMER_COUNTER_NUM  (1)  // Number of counter units
+#define SOC_SYSTIMER_COUNTER_NUM  1  // Number of counter units
-#define SOC_SYSTIMER_ALARM_NUM    (3)  // Number of alarm units
+#define SOC_SYSTIMER_ALARM_NUM    3  // Number of alarm units
-#define SOC_SYSTIMER_BIT_WIDTH_LO (32) // Bit width of systimer low part
+#define SOC_SYSTIMER_BIT_WIDTH_LO 32 // Bit width of systimer low part
-#define SOC_SYSTIMER_BIT_WIDTH_HI (32) // Bit width of systimer high part
+#define SOC_SYSTIMER_BIT_WIDTH_HI 32 // Bit width of systimer high part
 
 /*-------------------------- TIMER GROUP CAPS --------------------------------*/
-#define SOC_SYSTIMER_SUPPORTED             1
 #define SOC_TIMER_GROUPS                  (2)
 #define SOC_TIMER_GROUP_TIMERS_PER_GROUP  (2)
 #define SOC_TIMER_GROUP_COUNTER_BIT_WIDTH (64)

components/soc/esp32s2/include/soc/systimer_struct.h

@@ -267,7 +267,7 @@ typedef union {
 } systimer_date_reg_t;
 
 
-typedef struct {
+typedef struct systimer_dev_t {
     volatile systimer_conf_reg_t conf;
     volatile systimer_load_reg_t load;
     volatile systimer_load_hi_reg_t load_hi;

components/soc/esp32s3/include/soc/Kconfig.soc_caps.in

@@ -151,6 +151,10 @@ config SOC_SDM_SUPPORTED
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_SUPPORT_COEXISTENCE
     bool
     default y
@@ -683,10 +687,6 @@ config SOC_SPIRAM_SUPPORTED
     bool
     default y
 
-config SOC_SYSTIMER_SUPPORTED
-    bool
-    default y
-
 config SOC_SYSTIMER_COUNTER_NUM
     int
     default 2
@@ -703,7 +703,7 @@ config SOC_SYSTIMER_BIT_WIDTH_HI
     int
     default 20
 
-config SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US
+config SOC_SYSTIMER_FIXED_DIVIDER
     bool
     default y
 

components/soc/esp32s3/include/soc/soc_caps.h

@@ -52,6 +52,7 @@
 #define SOC_I2S_SUPPORTED               1
 #define SOC_RMT_SUPPORTED               1
 #define SOC_SDM_SUPPORTED               1
+#define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_SUPPORT_COEXISTENCE         1
 #define SOC_TEMP_SENSOR_SUPPORTED       1
 #define SOC_AES_SUPPORTED               1
@@ -282,14 +283,13 @@
 #define SOC_SPIRAM_SUPPORTED            1
 
 /*-------------------------- SYS TIMER CAPS ----------------------------------*/
-#define SOC_SYSTIMER_SUPPORTED              1
+#define SOC_SYSTIMER_COUNTER_NUM            2  // Number of counter units
-#define SOC_SYSTIMER_COUNTER_NUM            (2)  // Number of counter units
+#define SOC_SYSTIMER_ALARM_NUM              3  // Number of alarm units
-#define SOC_SYSTIMER_ALARM_NUM              (3)  // Number of alarm units
+#define SOC_SYSTIMER_BIT_WIDTH_LO           32 // Bit width of systimer low part
-#define SOC_SYSTIMER_BIT_WIDTH_LO           (32) // Bit width of systimer low part
+#define SOC_SYSTIMER_BIT_WIDTH_HI           20 // Bit width of systimer high part
-#define SOC_SYSTIMER_BIT_WIDTH_HI           (20) // Bit width of systimer high part
+#define SOC_SYSTIMER_FIXED_DIVIDER          1  // Clock source divider is fixed: 2.5
-#define SOC_SYSTIMER_HAS_FIXED_TICKS_PER_US (1)  // Number of ticks per microsecond is fixed (16 ticks/us)
+#define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level
-#define SOC_SYSTIMER_INT_LEVEL              (1)  // Systimer peripheral uses level
+#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
-#define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  (1)  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
 
 /*-------------------------- TIMER GROUP CAPS --------------------------------*/
 #define SOC_TIMER_GROUPS                  (2)

components/soc/esp32s3/include/soc/systimer_struct.h

@@ -357,7 +357,7 @@ typedef union {
 } systimer_date_reg_t;
 
 
-typedef struct {
+typedef struct systimer_dev_t {
     volatile systimer_conf_reg_t conf;
     volatile systimer_unit_op_reg_t unit_op[2];
     volatile systimer_unit_load_val_reg_t unit_load_val[2];