Merge #20009 #20042

20009: cpu/native: fix bug in periph_timer r=MrKevinWeiss a=maribu

### Contribution description

While debugging #18977 (comment) it became obvious that the `periph_timer` in `native` is broken and issues early IRQs. This replaces the use of `setitimer` that cannot use a monotonic clock source with `timer_settime()`.

### Testing procedure

I have some non-publishable code that tests if the time an ISR fires in terms of `timer_read()` is no earlier than the time expected. This occasionally triggered with `master`, but I didn't see any of these issues anymore with this PR. I guess I should revive my PR to spice up the periph timer tests and add a polished version of this and let this run for an hour or two.

The tests ins `tests/periph/timer*` should still succeed on `native`. (They do for me in a container running `riot/riotbuild`).

### Issues/PRs references

Found while debugging #18977 (comment)

20042: dist/tools/uf2: add target to also copy families.json file r=MrKevinWeiss a=MichelRottleuthner

### Contribution description

The updated UF2 pkg (#20035) stores the family ID in an external .json file. I overlooked that and flashing fails if this file is not present. This PR fixes it by also copying the json into the tool folder.

### Testing procedure
Check if the `feather-nrf52840-sense` can be flashed when the new UF2 pkg is cloned freshly.


### Issues/PRs references
 Fixes a regression introduced with #20035 


Co-authored-by: Marian Buschsieweke <marian.buschsieweke@posteo.net>
Co-authored-by: Michel Rottleuthner <michel.rottleuthner@haw-hamburg.de>

cpu/native/periph/timer.c

@@ -26,18 +26,19 @@
  * @}
  */
 
-#include <time.h>
-#include <sys/time.h>
+#include <err.h>
 #include <signal.h>
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
-#include <err.h>
+#include <sys/time.h>
+#include <time.h>
 
 #include "cpu.h"
 #include "cpu_conf.h"
 #include "native_internal.h"
 #include "periph/timer.h"
+#include "time_units.h"
 
 #define ENABLE_DEBUG 0
 #include "debug.h"
@@ -49,7 +50,9 @@ static unsigned long time_null;
 static timer_cb_t _callback;
 static void *_cb_arg;
 
-static struct itimerval itv;
+static struct itimerspec its;
+
+static timer_t itimer_monotonic;
 
 /**
  * returns ticks for give timespec
@@ -89,8 +92,15 @@ int timer_init(tim_t dev, uint32_t freq, timer_cb_t cb, void *arg)
 
     _callback = cb;
     _cb_arg = arg;
+
+    if (timer_create(CLOCK_MONOTONIC, NULL, &itimer_monotonic) != 0) {
+        DEBUG_PUTS("Failed to create a monotonic itimer");
+        return -1;
+    }
+
     if (register_interrupt(SIGALRM, native_isr_timer) != 0) {
-        DEBUG("darn!\n\n");
+        DEBUG_PUTS("Failed to register SIGALRM handler");
+        return -1;
     }
 
     return 0;
@@ -104,14 +114,14 @@ static void do_timer_set(unsigned int offset, bool periodic)
         offset = NATIVE_TIMER_MIN_RES;
     }
 
-    memset(&itv, 0, sizeof(itv));
-    itv.it_value.tv_sec = (offset / 1000000);
-    itv.it_value.tv_usec = offset % 1000000;
+    memset(&its, 0, sizeof(its));
+    its.it_value.tv_sec = offset / NATIVE_TIMER_SPEED;
+    its.it_value.tv_nsec = (offset % NATIVE_TIMER_SPEED) * (NS_PER_SEC / NATIVE_TIMER_SPEED);
     if (periodic) {
-        itv.it_interval = itv.it_value;
+        its.it_interval = its.it_value;
     }
 
-    DEBUG("timer_set(): setting %lu.%06lu\n", itv.it_value.tv_sec, itv.it_value.tv_usec);
+    DEBUG("timer_set(): setting %lu.%09lu\n", (unsigned long)its.it_value.tv_sec, its.it_value.tv_nsec);
 }
 
 int timer_set(tim_t dev, int channel, unsigned int offset)
@@ -171,8 +181,8 @@ void timer_start(tim_t dev)
     DEBUG("%s\n", __func__);
 
     _native_syscall_enter();
-    if (real_setitimer(ITIMER_REAL, &itv, NULL) == -1) {
-        err(EXIT_FAILURE, "timer_arm: setitimer");
+    if (timer_settime(itimer_monotonic, 0, &its, NULL) == -1) {
+        err(EXIT_FAILURE, "timer_start: timer_settime");
     }
     _native_syscall_leave();
 }
@@ -183,13 +193,13 @@ void timer_stop(tim_t dev)
     DEBUG("%s\n", __func__);
 
     _native_syscall_enter();
-    struct itimerval zero = {0};
-    if (real_setitimer(ITIMER_REAL, &zero, &itv) == -1) {
-        err(EXIT_FAILURE, "timer_arm: setitimer");
+    struct itimerspec zero = {0};
+    if (timer_settime(itimer_monotonic, 0, &zero, &its) == -1) {
+        err(EXIT_FAILURE, "timer_stop: timer_settime");
     }
     _native_syscall_leave();
 
-    DEBUG("time left: %lu.%06lu\n", itv.it_value.tv_sec, itv.it_value.tv_usec);
+    DEBUG("time left: %lu.%09lu\n", (unsigned long)its.it_value.tv_sec, its.it_value.tv_nsec);
 }
 
 unsigned int timer_read(tim_t dev)

cpu/native/syscalls.c

@@ -88,8 +88,6 @@ int (*real_pause)(void);
 int (*real_pipe)(int[2]);
 int (*real_select)(int nfds, ...);
 int (*real_poll)(struct pollfd *fds, ...);
-int (*real_setitimer)(int which, const struct itimerval
-        *restrict value, struct itimerval *restrict ovalue);
 int (*real_setsid)(void);
 int (*real_setsockopt)(int socket, ...);
 int (*real_socket)(int domain, int type, int protocol);
@@ -535,7 +533,6 @@ void _native_init_syscalls(void)
     *(void **)(&real_dup2) = dlsym(RTLD_NEXT, "dup2");
     *(void **)(&real_select) = dlsym(RTLD_NEXT, "select");
     *(void **)(&real_poll) = dlsym(RTLD_NEXT, "poll");
-    *(void **)(&real_setitimer) = dlsym(RTLD_NEXT, "setitimer");
     *(void **)(&real_setsid) = dlsym(RTLD_NEXT, "setsid");
     *(void **)(&real_setsockopt) = dlsym(RTLD_NEXT, "setsockopt");
     *(void **)(&real_socket) = dlsym(RTLD_NEXT, "socket");

dist/tools/uf2/Makefile

@@ -5,8 +5,11 @@ PKG_LICENSE=MIT
 
 include $(RIOTBASE)/pkg/pkg.mk
 
-all: $(CURDIR)/uf2conv.py
+all: $(CURDIR)/uf2conv.py $(CURDIR)/uf2families.json
 
 $(CURDIR)/uf2conv.py:
 	cp $(PKG_SOURCE_DIR)/utils/uf2conv.py .
 	chmod a+x uf2conv.py
+
+$(CURDIR)/uf2families.json:
+	cp $(PKG_SOURCE_DIR)/utils/uf2families.json .