sensor: Enable RTIO Semaphores for Async API

ubieda · nashif · commit cc139b85df4a · 2024-07-09T17:21:05.000-04:00
In order to decouple the read request from its implementation, we need
to be able to yield to potential lower-priority threads, which is not
possible with k_yield() itself. As such, using RTIO Consume semaphore
enables us to achieve this.

This patch also refactors blocking API (sensor_read) to also block upon
consumption, so as not to require RTIO_SUBMIT_SEM enabled.

Signed-off-by: Luis Ubieda &lt;luisf@croxel.com&gt;
diff --git a/drivers/sensor/Kconfig b/drivers/sensor/Kconfig
@@ -24,6 +24,7 @@ config SENSOR_ASYNC_API
 	bool "Async Sensor API"
 	select RTIO
 	select RTIO_SYS_MEM_BLOCKS
+	select RTIO_CONSUME_SEM
 	help
 	  Enables the asynchronous sensor API by leveraging the RTIO subsystem.
 
diff --git a/include/zephyr/drivers/sensor.h b/include/zephyr/drivers/sensor.h
@@ -1056,9 +1056,9 @@ static inline int sensor_read(struct rtio_iodev *iodev, struct rtio *ctx, uint8_
 		}
 		rtio_sqe_prep_read(sqe, iodev, RTIO_PRIO_NORM, buf, buf_len, buf);
 	}
-	rtio_submit(ctx, 1);
+	rtio_submit(ctx, 0);
 
-	struct rtio_cqe *cqe = rtio_cqe_consume(ctx);
+	struct rtio_cqe *cqe = rtio_cqe_consume_block(ctx);
 	int res = cqe->result;
 
 	__ASSERT(cqe->userdata != buf,

Original file line number	Diff line number	Diff line change
`@@ -1056,9 +1056,9 @@ static inline int sensor_read(struct rtio_iodev iodev, struct rtio ctx, uint8_`
`1056`	`1056`	`}`
`1057`	`1057`	`rtio_sqe_prep_read(sqe, iodev, RTIO_PRIO_NORM, buf, buf_len, buf);`
`1058`	`1058`	`}`
`1059`		`- rtio_submit(ctx, 1);`
	`1059`	`+ rtio_submit(ctx, 0);`
`1060`	`1060`
`1061`		`- struct rtio_cqe *cqe = rtio_cqe_consume(ctx);`
	`1061`	`+ struct rtio_cqe *cqe = rtio_cqe_consume_block(ctx);`
`1062`	`1062`	`int res = cqe->result;`
`1063`	`1063`
`1064`	`1064`	`__ASSERT(cqe->userdata != buf,`