sched/wqueue: add configuring the stack of an hpwork/lpwork as static

Allows configuring a static stack for hpwork/lpwork.

Signed-off-by: pangzhen1 <pangzhen1@xiaomi.com>

sched/Kconfig

@@ -1855,6 +1855,12 @@ config SCHED_HPWORKSTACKSIZE
 	---help---
 		The stack size allocated for the worker thread.  Default: 2K.
 
+config SCHED_HPWORKSTACKSECTION
+	string "The section where hpwork stack is located"
+	default ""
+	---help---
+		The section where hpwork stack is located.
+
 endif # SCHED_HPWORK
 
 config SCHED_LPWORK
@@ -1954,6 +1960,12 @@ config SCHED_LPWORKSTACKSIZE
 	---help---
 		The stack size allocated for the lower priority worker thread.  Default: 2K.
 
+config SCHED_LPWORKSTACKSECTION
+	string "The section where lpwork stack is located"
+	default ""
+	---help---
+		The section where lpwork stack is located.
+
 endif # SCHED_LPWORK
 endmenu # Work Queue Support
 

sched/wqueue/CMakeLists.txt

@@ -38,6 +38,18 @@ if(CONFIG_SCHED_WORKQUEUE)
     list(APPEND SRCS kwork_notifier.c)
   endif()
 
+  if(CONFIG_SCHED_HPWORKSTACKSECTION)
+    target_compile_definitions(
+      sched
+      PRIVATE -DSCHED_HPWORKSTACKSECTION="${CONFIG_SCHED_HPWORKSTACKSECTION}")
+  endif()
+
+  if(CONFIG_SCHED_LPWORKSTACKSECTION)
+    target_compile_definitions(
+      sched
+      PRIVATE -DSCHED_LPWORKSTACKSECTION="${CONFIG_SCHED_LPWORKSTACKSECTION}")
+  endif()
+
   target_sources(sched PRIVATE ${SRCS})
 
 endif()

sched/wqueue/Make.defs

@@ -36,6 +36,14 @@ ifeq ($(CONFIG_WQUEUE_NOTIFIER),y)
 CSRCS += kwork_notifier.c
 endif
 
+ifneq ($(CONFIG_SCHED_HPWORKSTACKSECTION),"")
+  CFLAGS += ${DEFINE_PREFIX}SCHED_HPWORKSTACKSECTION=CONFIG_SCHED_HPWORKSTACKSECTION
+endif
+
+ifneq ($(CONFIG_SCHED_LPWORKSTACKSECTION),"")
+  CFLAGS += ${DEFINE_PREFIX}SCHED_LPWORKSTACKSECTION=CONFIG_SCHED_LPWORKSTACKSECTION
+endif
+
 # Include wqueue build support
 
 DEPPATH += --dep-path wqueue

sched/wqueue/kwork_thread.c

@@ -308,6 +308,7 @@ static int work_thread_create(FAR const char *name, int priority,
   char arg1[32];
   int wndx;
   int pid;
+  FAR void *stack = NULL;
 
   /* Don't permit any of the threads to run until we have fully initialized
    * all of them.
@@ -325,8 +326,15 @@ static int work_thread_create(FAR const char *name, int priority,
       argv[1] = arg1;
       argv[2] = NULL;
 
-      pid = kthread_create_with_stack(name, priority, stack_addr, stack_size,
-                                      work_thread, argv);
+      /* In case of the stack_addr is NULL */
+
+      if (stack_addr)
+        {
+          stack = (FAR void *)((uintptr_t)stack_addr + wndx * stack_size);
+        }
+
+      pid = kthread_create_with_stack(name, priority, stack,
+                                      stack_size, work_thread, argv);
 
       DEBUGASSERT(pid > 0);
       if (pid < 0)
@@ -550,9 +558,21 @@ int work_start_highpri(void)
 
   sinfo("Starting high-priority kernel worker thread(s)\n");
 
+#ifdef SCHED_HPWORKSTACKSECTION
+  static uint8_t hp_work_stack[CONFIG_SCHED_HPNTHREADS]
+                              [CONFIG_SCHED_HPWORKSTACKSIZE]
+  locate_data(CONFIG_SCHED_HPWORKSTACKSECTION);
+
+  return work_thread_create(HPWORKNAME,
+                            CONFIG_SCHED_HPWORKPRIORITY,
+                            hp_work_stack,
+                            CONFIG_SCHED_HPWORKSTACKSIZE,
+                            (FAR struct kwork_wqueue_s *)&g_hpwork);
+#else
   return work_thread_create(HPWORKNAME, CONFIG_SCHED_HPWORKPRIORITY, NULL,
                             CONFIG_SCHED_HPWORKSTACKSIZE,
                             (FAR struct kwork_wqueue_s *)&g_hpwork);
+#endif
 }
 #endif /* CONFIG_SCHED_HPWORK */
 
@@ -578,9 +598,22 @@ int work_start_lowpri(void)
 
   sinfo("Starting low-priority kernel worker thread(s)\n");
 
-  return work_thread_create(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY, NULL,
+#ifdef SCHED_LPWORKSTACKSECTION
+  static uint8_t lp_work_stack[CONFIG_SCHED_LPNTHREADS]
+                              [CONFIG_SCHED_LPWORKSTACKSIZE]
+  locate_data(CONFIG_SCHED_LPWORKSTACKSECTION);
+
+  return work_thread_create(LPWORKNAME,
+                            CONFIG_SCHED_LPWORKPRIORITY,
+                            lp_work_stack,
                             CONFIG_SCHED_LPWORKSTACKSIZE,
                             (FAR struct kwork_wqueue_s *)&g_lpwork);
+#else
+  return work_thread_create(LPWORKNAME,
+                            CONFIG_SCHED_LPWORKPRIORITY, NULL,
+                            CONFIG_SCHED_LPWORKSTACKSIZE,
+                            (FAR struct kwork_wqueue_s *)&g_lpwork);
+#endif
 }
 #endif /* CONFIG_SCHED_LPWORK */