b0caaed43b
Based on a discussion around P4WQ limitations for our application, it was determined that the RTIO workqueue required the ability to use additional threads from the pool in spite of work items blocked. Since this is not covered, nor desired for the P4WQ, then remove this dependency and re-implement it in a way that covers also this use-case. Signed-off-by: Luis Ubieda <luisf@croxel.com>
96 lines
2.0 KiB
C
96 lines
2.0 KiB
C
/*
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* Copyright (c) 2024 Croxel Inc.
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* Copyright (c) 2025 Croxel Inc.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/rtio/work.h>
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#include <zephyr/kernel.h>
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K_MEM_SLAB_DEFINE_STATIC(rtio_work_items_slab,
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sizeof(struct rtio_work_req),
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CONFIG_RTIO_WORKQ_POOL_ITEMS,
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4);
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static K_THREAD_STACK_ARRAY_DEFINE(rtio_workq_threads_stack,
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CONFIG_RTIO_WORKQ_THREADS_POOL,
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CONFIG_RTIO_WORKQ_THREADS_POOL_STACK_SIZE);
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static struct k_thread rtio_work_threads[CONFIG_RTIO_WORKQ_THREADS_POOL];
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static K_QUEUE_DEFINE(rtio_workq);
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struct rtio_work_req *rtio_work_req_alloc(void)
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{
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struct rtio_work_req *req;
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int err;
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err = k_mem_slab_alloc(&rtio_work_items_slab, (void **)&req, K_NO_WAIT);
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if (err) {
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return NULL;
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}
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return req;
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}
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void rtio_work_req_submit(struct rtio_work_req *req,
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struct rtio_iodev_sqe *iodev_sqe,
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rtio_work_submit_t handler)
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{
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if (!req) {
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return;
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}
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if (!iodev_sqe || !handler) {
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k_mem_slab_free(&rtio_work_items_slab, req);
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return;
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}
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req->iodev_sqe = iodev_sqe;
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req->handler = handler;
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/** For now we're simply treating this as a FIFO queue. It may be
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* desirable to expand this to handle queue ordering based on RTIO
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* SQE priority.
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*/
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k_queue_append(&rtio_workq, req);
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}
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uint32_t rtio_work_req_used_count_get(void)
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{
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return k_mem_slab_num_used_get(&rtio_work_items_slab);
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}
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static void rtio_workq_thread_fn(void *arg1, void *arg2, void *arg3)
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{
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ARG_UNUSED(arg1);
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ARG_UNUSED(arg2);
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ARG_UNUSED(arg3);
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while (true) {
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struct rtio_work_req *req = k_queue_get(&rtio_workq, K_FOREVER);
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if (req != NULL) {
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req->handler(req->iodev_sqe);
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k_mem_slab_free(&rtio_work_items_slab, req);
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}
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}
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}
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static int static_init(void)
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{
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for (size_t i = 0 ; i < ARRAY_SIZE(rtio_work_threads) ; i++) {
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k_thread_create(&rtio_work_threads[i],
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rtio_workq_threads_stack[i],
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CONFIG_RTIO_WORKQ_THREADS_POOL_STACK_SIZE,
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rtio_workq_thread_fn,
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NULL, NULL, NULL,
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CONFIG_RTIO_WORKQ_THREADS_POOL_PRIO,
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0,
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K_NO_WAIT);
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}
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return 0;
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}
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SYS_INIT(static_init, POST_KERNEL, 1);
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