Added the 'sleepUntil' API function to delays interface, allowing to put a thread in sleeping state until a certain absolute timepoint is reached

openrtx/include/interfaces/delays.h

@@ -48,6 +48,13 @@ void delayMs(unsigned int mseconds);
  */
 void sleepFor(unsigned int seconds, unsigned int mseconds);
 
+/**
+ * Puts the calling thread in a sleeping state until the system time reaches
+ * the target value passed as parameter.
+ * @param timestamp: traget timestamp for the wakeup.
+ */
+void sleepUntil(long long timestamp);
+
 /**
  * Get the current value of the system tick.
  * @return current system tick value.

platform/mcu/MK22FN512xxx12/drivers/delays.cpp

@@ -58,6 +58,11 @@ void sleepFor(unsigned int seconds, unsigned int mseconds)
     miosix::Thread::sleep(time);
 }
 
+void sleepUntil(long long timestamp)
+{
+    miosix::Thread::sleepUntil(timestamp);
+}
+
 long long getTick()
 {
     return miosix::getTick();

platform/mcu/STM32F4xx/drivers/delays.cpp

@@ -58,6 +58,11 @@ void sleepFor(unsigned int seconds, unsigned int mseconds)
     miosix::Thread::sleep(time);
 }
 
+void sleepUntil(long long timestamp)
+{
+    miosix::Thread::sleepUntil(timestamp);
+}
+
 long long getTick()
 {
     return miosix::getTick();

platform/mcu/x86_64/drivers/delays.c

@@ -40,6 +40,13 @@ void sleepFor(unsigned int seconds, unsigned int mseconds)
     delayMs(time);
 }
 
+void sleepUntil(long long timestamp)
+{
+    long long delta = timestamp - getTick();
+    if(delta <= 0) return;
+    delayMs(delta);
+}
+
 long long getTick()
 {
     /*