rtio: Add macro to define iodev submission queue

The iodev submission queue existed but wasn't easily constructed as
there was no macro to define it.

Adds a simple macro wrapper around RTIO_SPSC_DEFINE for creating
the RTIO IO Device Submission Queue enabling each IO device to
have its own pending queue of requests.

The sample has been updated to use the iodev submission queue rather
than a k_msgq.

Signed-off-by: Tom Burdick <[email protected]>

Author: teburd

include/zephyr/rtio/rtio.h

@@ -391,6 +391,16 @@ static inline void rtio_sqe_prep_write(struct rtio_sqe *sqe,
 #define RTIO_CQ_DEFINE(name, len)			\
 	static RTIO_SPSC_DEFINE(name, struct rtio_cqe, len)
 
+
+/**
+ * @brief Statically define and initialize a fixed length iodev submission queue
+ *
+ * @param name Name of the queue.
+ * @param len Queue length, power of 2 required
+ */
+#define RTIO_IODEV_SQ_DEFINE(name, len) \
+	static RTIO_SPSC_DEFINE(name, struct rtio_iodev_sqe, len)
+
 /**
  * @brief Statically define and initialize an RTIO context
  *

samples/subsys/rtio/sensor_batch_processing/src/vnd_sensor.c

@@ -13,16 +13,9 @@
 
 LOG_MODULE_REGISTER(vnd_sensor);
 
-struct vnd_sensor_msg {
-	struct rtio_sqe sqe;
-	struct rtio *r;
-};
-
 struct vnd_sensor_config {
 	uint32_t sample_period;
 	size_t sample_size;
-	struct vnd_sensor_msg *msgs;
-	size_t max_msgs;
 };
 
 struct vnd_sensor_data {
@@ -82,13 +75,13 @@ static void vnd_sensor_iodev_submit(const struct rtio_sqe *sqe, struct rtio *r)
 {
 	struct vnd_sensor_data *data = (struct vnd_sensor_data *) sqe->iodev;
 	const struct device *dev = data->dev;
+	struct rtio_iodev_sqe *iodev_sqe = rtio_spsc_acquire(data->iodev.iodev_sq);
 
-	struct vnd_sensor_msg msg = {
-		.sqe = *sqe,
-		.r = r,
-	};
-
-	if (k_msgq_put(&data->msgq, &msg, K_NO_WAIT) != 0) {
+	if (iodev_sqe != NULL) {
+		iodev_sqe->sqe = sqe;
+		iodev_sqe->r = r;
+		rtio_spsc_produce(data->iodev.iodev_sq);
+	} else {
 		LOG_ERR("%s: Could not put a msg", dev->name);
 		rtio_sqe_err(r, sqe, -EWOULDBLOCK);
 	}
@@ -97,12 +90,13 @@ static void vnd_sensor_iodev_submit(const struct rtio_sqe *sqe, struct rtio *r)
 static void vnd_sensor_handle_int(const struct device *dev)
 {
 	struct vnd_sensor_data *data = dev->data;
-	struct vnd_sensor_msg msg;
+	struct rtio_iodev_sqe *iodev_sqe = rtio_spsc_consume(data->iodev.iodev_sq);
 
-	if (k_msgq_get(&data->msgq, &msg, K_NO_WAIT) != 0) {
-		LOG_ERR("%s: Could not get a msg", dev->name);
+	if (iodev_sqe != NULL) {
+		vnd_sensor_iodev_execute(dev, iodev_sqe->sqe, iodev_sqe->r);
+		rtio_spsc_release(data->iodev.iodev_sq);
 	} else {
-		vnd_sensor_iodev_execute(dev, &msg.sqe, msg.r);
+		LOG_ERR("%s: Could not get a msg", dev->name);
 	}
 }
 
@@ -122,9 +116,6 @@ static int vnd_sensor_init(const struct device *dev)
 
 	data->dev = dev;
 
-	k_msgq_init(&data->msgq, (char *) config->msgs,
-		    sizeof(struct vnd_sensor_msg), config->max_msgs);
-
 	k_timer_init(&data->timer, vnd_sensor_timer_expiry, NULL);
 
 	k_timer_start(&data->timer, K_MSEC(sample_period),
@@ -137,30 +128,25 @@ static const struct rtio_iodev_api vnd_sensor_iodev_api = {
 	.submit = vnd_sensor_iodev_submit,
 };
 
-#define VND_SENSOR_INIT(n)						\
-	static struct vnd_sensor_msg					\
-		vnd_sensor_msgs_##n[DT_INST_PROP(n, max_msgs)];		\
-									\
-	static const struct vnd_sensor_config vnd_sensor_config_##n = {	\
-		.sample_period = DT_INST_PROP(n, sample_period),	\
-		.sample_size = DT_INST_PROP(n, sample_size),		\
-		.msgs = vnd_sensor_msgs_##n,				\
-		.max_msgs = DT_INST_PROP(n, max_msgs),			\
-	};								\
-									\
-	static struct vnd_sensor_data vnd_sensor_data_##n = {		\
-		.iodev = {						\
-			.api = &vnd_sensor_iodev_api,			\
-		},							\
-	};								\
-									\
-	DEVICE_DT_INST_DEFINE(n,					\
-			      vnd_sensor_init,				\
-			      NULL,					\
-			      &vnd_sensor_data_##n,			\
-			      &vnd_sensor_config_##n,			\
-			      POST_KERNEL,				\
-			      CONFIG_KERNEL_INIT_PRIORITY_DEVICE,	\
-			      NULL);
+#define VND_SENSOR_INIT(n)                                                                         \
+                                                                                                   \
+	static const struct vnd_sensor_config vnd_sensor_config_##n = {                            \
+		.sample_period = DT_INST_PROP(n, sample_period),                                   \
+		.sample_size = DT_INST_PROP(n, sample_size),                                       \
+	};                                                                                         \
+                                                                                                   \
+	RTIO_IODEV_SQ_DEFINE(vnd_sensor_iodev_sq_##n, DT_INST_PROP(n, max_msgs));                  \
+                                                                                                   \
+	static struct vnd_sensor_data vnd_sensor_data_##n = {                                      \
+		.iodev =                                                                           \
+			{                                                                          \
+				.api = &vnd_sensor_iodev_api,                                      \
+				.iodev_sq = (struct rtio_iodev_sq *)&vnd_sensor_iodev_sq_##n,     \
+			},                                                                         \
+	};                                                                                         \
+                                                                                                   \
+	DEVICE_DT_INST_DEFINE(n, vnd_sensor_init, NULL, &vnd_sensor_data_##n,                      \
+			      &vnd_sensor_config_##n, POST_KERNEL,                                 \
+			      CONFIG_KERNEL_INIT_PRIORITY_DEVICE, NULL);
 
 DT_INST_FOREACH_STATUS_OKAY(VND_SENSOR_INIT)