[nrf noup] drivers: spi: spi_nrfx_spi: remove multithreading dependency

nordic-mik7 · nordic-mik7 · commit 57435f3243d9 · 2025-05-23T17:15:21.000+02:00
Replace semaphores with proper atomic flags when used without
multithreading enabled.

Related: NCSDK-33699

Signed-off-by: Michal Kozikowski &lt;michal.kozikowski@nordicsemi.no&gt;
diff --git a/drivers/spi/Kconfig b/drivers/spi/Kconfig
@@ -24,6 +24,7 @@ config SPI_SHELL
 
 config SPI_ASYNC
 	bool "Asynchronous call support"
+	depends on MULTITHREADING
 	select POLL
 	help
 	  This option enables the asynchronous API calls.
diff --git a/drivers/spi/Kconfig.nrfx b/drivers/spi/Kconfig.nrfx
@@ -5,7 +5,6 @@ menuconfig SPI_NRFX
 	bool "nRF SPI nrfx drivers"
 	default y
 	depends on SOC_FAMILY_NORDIC_NRF
-	depends on MULTITHREADING
 	select PINCTRL
 	help
 	  Enable support for nrfx SPI drivers for nRF MCU series.
diff --git a/drivers/spi/spi_context.h b/drivers/spi/spi_context.h
@@ -31,8 +31,15 @@ struct spi_context {
 	const struct gpio_dt_spec *cs_gpios;
 	size_t num_cs_gpios;
 
+#ifdef CONFIG_MULTITHREADING
 	struct k_sem lock;
 	struct k_sem sync;
+#else
+	/* A flag that signals completed transfer when threads are
+	 * not enabled.
+	 */
+	volatile bool ready;
+#endif /* CONFIG_MULTITHREADING */
 	int sync_status;
 
 #ifdef CONFIG_SPI_ASYNC
@@ -105,6 +112,7 @@ static inline void spi_context_lock(struct spi_context *ctx,
 				    void *callback_data,
 				    const struct spi_config *spi_cfg)
 {
+#ifdef CONFIG_MULTITHREADING
 	bool already_locked = (spi_cfg->operation & SPI_LOCK_ON) &&
 			      (k_sem_count_get(&ctx->lock) == 0) &&
 			      (ctx->owner == spi_cfg);
@@ -119,6 +127,7 @@ static inline void spi_context_lock(struct spi_context *ctx,
 	ctx->callback = callback;
 	ctx->callback_data = callback_data;
 #endif /* CONFIG_SPI_ASYNC */
+#endif /* CONFIG_MULTITHREADING */
 }
 
 /*
@@ -130,6 +139,7 @@ static inline void spi_context_lock(struct spi_context *ctx,
  */
 static inline void spi_context_release(struct spi_context *ctx, int status)
 {
+#ifdef CONFIG_MULTITHREADING
 #ifdef CONFIG_SPI_SLAVE
 	if (status >= 0 && (ctx->config->operation & SPI_LOCK_ON)) {
 		return;
@@ -147,6 +157,7 @@ static inline void spi_context_release(struct spi_context *ctx, int status)
 		k_sem_give(&ctx->lock);
 	}
 #endif /* CONFIG_SPI_ASYNC */
+#endif /* CONFIG_MULTITHREADING */
 }
 
 static inline size_t spi_context_total_tx_len(struct spi_context *ctx);
@@ -172,29 +183,47 @@ static inline int spi_context_wait_for_completion(struct spi_context *ctx)
 
 	if (wait) {
 		k_timeout_t timeout;
+		uint32_t timeout_ms;
 
 		/* Do not use any timeout in the slave mode, as in this case
 		 * it is not known when the transfer will actually start and
 		 * what the frequency will be.
 		 */
 		if (IS_ENABLED(CONFIG_SPI_SLAVE) && spi_context_is_slave(ctx)) {
 			timeout = K_FOREVER;
+			timeout_ms = UINT32_MAX;
 		} else {
 			uint32_t tx_len = spi_context_total_tx_len(ctx);
 			uint32_t rx_len = spi_context_total_rx_len(ctx);
-			uint32_t timeout_ms;
 
 			timeout_ms = MAX(tx_len, rx_len) * 8 * 1000 /
 				     ctx->config->frequency;
 			timeout_ms += CONFIG_SPI_COMPLETION_TIMEOUT_TOLERANCE;
 
 			timeout = K_MSEC(timeout_ms);
 		}
-
+#ifdef CONFIG_MULTITHREADING
 		if (k_sem_take(&ctx->sync, timeout)) {
 			LOG_ERR("Timeout waiting for transfer complete");
 			return -ETIMEDOUT;
 		}
+#else
+		const uint32_t tms = k_uptime_get_32();
+		unsigned int key = irq_lock();
+
+		while (!ctx->ready && (k_uptime_get_32() - tms < timeout_ms)) {
+			k_cpu_atomic_idle(key);
+			key = irq_lock();
+		}
+		if (!ctx->ready) {
+			LOG_ERR("Timeout waiting for transfer complete");
+			irq_unlock(key);
+			return -ETIMEDOUT;
+		}
+
+		ctx->ready = false;
+		irq_unlock(key);
+#endif /* CONFIG_MULTITHREADING */
 		status = ctx->sync_status;
 	}
 
@@ -221,6 +250,7 @@ static inline void spi_context_complete(struct spi_context *ctx,
 	if (!ctx->asynchronous) {
 		ctx->sync_status = status;
 		k_sem_give(&ctx->sync);
+		return;
 	} else {
 		if (ctx->callback) {
 #ifdef CONFIG_SPI_SLAVE
@@ -238,10 +268,15 @@ static inline void spi_context_complete(struct spi_context *ctx,
 			ctx->owner = NULL;
 			k_sem_give(&ctx->lock);
 		}
+
 	}
 #else
 	ctx->sync_status = status;
+#ifdef CONFIG_MULTITHREADING
 	k_sem_give(&ctx->sync);
+#else
+	ctx->ready = true;
+#endif /* CONFIG_MULTITHREADING */
 #endif /* CONFIG_SPI_ASYNC */
 }
 
@@ -315,10 +350,12 @@ static inline void spi_context_unlock_unconditionally(struct spi_context *ctx)
 	/* Forcing CS to go to inactive status */
 	_spi_context_cs_control(ctx, false, true);
 
+#ifdef CONFIG_MULTITHREADING
 	if (!k_sem_count_get(&ctx->lock)) {
 		ctx->owner = NULL;
 		k_sem_give(&ctx->lock);
 	}
+#endif /* CONFIG_MULTITHREADING */
 }
 
 /*
diff --git a/drivers/spi/spi_nrfx_spi.c b/drivers/spi/spi_nrfx_spi.c
@@ -278,7 +278,11 @@ static int transceive(const struct device *dev,
 			finish_transaction(dev, -ETIMEDOUT);
 
 			/* Clean up the driver state. */
+#ifdef CONFIG_MULTITHREADING
 			k_sem_reset(&dev_data->ctx.sync);
+#else
+			dev_data->ctx.ready = false;
+#endif /* CONFIG_MULTITHREADING */
 		}
 
 		spi_context_cs_control(&dev_data->ctx, false);
@@ -432,8 +436,10 @@ static int spi_nrfx_init(const struct device *dev)
 			    nrfx_isr, nrfx_spi_##idx##_irq_handler, 0);	       \
 	}								       \
 	static struct spi_nrfx_data spi_##idx##_data = {		       \
-		SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),		       \
-		SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),		       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),))       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),))       \
 		SPI_CONTEXT_CS_GPIOS_INITIALIZE(SPI(idx), ctx)		       \
 		.dev  = DEVICE_DT_GET(SPI(idx)),			       \
 		.busy = false,						       \
diff --git a/drivers/spi/spi_nrfx_spim.c b/drivers/spi/spi_nrfx_spim.c
@@ -592,7 +592,11 @@ static int transceive(const struct device *dev,
 			finish_transaction(dev, -ETIMEDOUT);
 
 			/* Clean up the driver state. */
+#ifdef CONFIG_MULTITHREADING
 			k_sem_reset(&dev_data->ctx.sync);
+#else
+			dev_data->ctx.ready = false;
+#endif /* CONFIG_MULTITHREADING */
 #ifdef CONFIG_SOC_NRF52832_ALLOW_SPIM_DESPITE_PAN_58
 			anomaly_58_workaround_clear(dev_data);
 #endif
@@ -804,8 +808,10 @@ static int spi_nrfx_init(const struct device *dev)
 			[CONFIG_SPI_NRFX_RAM_BUFFER_SIZE]		       \
 			SPIM_MEMORY_SECTION(idx);))			       \
 	static struct spi_nrfx_data spi_##idx##_data = {		       \
-		SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),		       \
-		SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),		       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),))       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),))       \
 		SPI_CONTEXT_CS_GPIOS_INITIALIZE(SPIM(idx), ctx)		       \
 		IF_ENABLED(SPI_BUFFER_IN_RAM,				       \
 			(.tx_buffer = spim_##idx##_tx_buffer,		       \
diff --git a/drivers/spi/spi_nrfx_spis.c b/drivers/spi/spi_nrfx_spis.c
@@ -39,7 +39,11 @@ BUILD_ASSERT(!IS_ENABLED(CONFIG_PM_DEVICE_SYSTEM_MANAGED));
 struct spi_nrfx_data {
 	struct spi_context ctx;
 	const struct device *dev;
+#ifdef CONFIG_MULTITHREADING
 	struct k_sem wake_sem;
+#else
+	volatile bool woken_up;
+#endif
 	struct gpio_callback wake_cb_data;
 };
 
@@ -193,7 +197,11 @@ static void wake_callback(const struct device *dev, struct gpio_callback *cb,
 
 	(void)gpio_pin_interrupt_configure_dt(&dev_config->wake_gpio,
 					      GPIO_INT_DISABLE);
+#ifdef CONFIG_MULTITHREADING
 	k_sem_give(&dev_data->wake_sem);
+#else
+	dev_data->woken_up = true;
+#endif /* CONFIG_MULTITHREADING */
 }
 
 static void wait_for_wake(struct spi_nrfx_data *dev_data,
@@ -206,7 +214,20 @@ static void wait_for_wake(struct spi_nrfx_data *dev_data,
 			     dev_config->wake_gpio.pin) == 0) {
 		(void)gpio_pin_interrupt_configure_dt(&dev_config->wake_gpio,
 						      GPIO_INT_LEVEL_HIGH);
+#ifdef CONFIG_MULTITHREADING
 		(void)k_sem_take(&dev_data->wake_sem, K_FOREVER);
+#else
+		const uint32_t tms = k_uptime_get_32();
+		unsigned int key = irq_lock();
+
+		while (!dev_data->woken_up) {
+			k_cpu_atomic_idle(key);
+			key = irq_lock();
+		}
+
+		dev_data->woken_up = false;
+		irq_unlock(key);
+#endif /* CONFIG_MULTITHREADING */
 	}
 }
 
@@ -482,11 +503,14 @@ static int spi_nrfx_init(const struct device *dev)
 			    nrfx_isr, nrfx_spis_##idx##_irq_handler, 0);       \
 	}								       \
 	static struct spi_nrfx_data spi_##idx##_data = {		       \
-		SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),		       \
-		SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),		       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_LOCK(spi_##idx##_data, ctx),))       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(SPI_CONTEXT_INIT_SYNC(spi_##idx##_data, ctx),))       \
 		.dev  = DEVICE_DT_GET(SPIS(idx)),			       \
-		.wake_sem = Z_SEM_INITIALIZER(				       \
-			spi_##idx##_data.wake_sem, 0, 1),		       \
+		IF_ENABLED(CONFIG_MULTITHREADING,			       \
+			(.wake_sem = Z_SEM_INITIALIZER(			       \
+				spi_##idx##_data.wake_sem, 0, 1),))	       \
 	};								       \
 	PINCTRL_DT_DEFINE(SPIS(idx));					       \
 	static const struct spi_nrfx_config spi_##idx##z_config = {	       \
