[ipc] support of lockless rt_completion (#8887)

* [ipc] lockless rt_completion implementation

The new rt_completion implemented by lockless algorithm can improve timer resolution for up to ~12%, compare to sem IPC.

Signed-off-by: Shell <[email protected]>

* fixup: error

* remove useless changes

---------

Signed-off-by: Shell <[email protected]>

17 files changed, 967 insertions, 90 deletions

diff --git a/components/drivers/Kconfig b/components/drivers/Kconfig
index 5763ab8015..55be53624b 100755
--- a/components/drivers/Kconfig
+++ b/components/drivers/Kconfig
@@ -7,30 +7,7 @@ config RT_USING_DM
         Enable device driver model with device tree (FDT). It will use more memory
         to parse and support device tree feature.
 
-config RT_USING_DEVICE_IPC
-    bool "Using device drivers IPC"
-    default y
-
-config RT_UNAMED_PIPE_NUMBER
-    int "The number of unamed pipe"
-    depends on RT_USING_DEVICE_IPC
-    default 64
-
-if RT_USING_DEVICE_IPC
-    config RT_USING_SYSTEM_WORKQUEUE
-        bool "Using system default workqueue"
-        default n
-
-    if RT_USING_SYSTEM_WORKQUEUE
-        config RT_SYSTEM_WORKQUEUE_STACKSIZE
-            int "The stack size for system workqueue thread"
-            default 2048
-
-        config RT_SYSTEM_WORKQUEUE_PRIORITY
-            int "The priority level of system workqueue thread"
-            default 23
-    endif
-endif
+source "$RTT_DIR/components/drivers/ipc/Kconfig"
 
 menuconfig RT_USING_SERIAL
     bool "USING Serial device drivers"
diff --git a/components/drivers/include/ipc/completion.h b/components/drivers/include/ipc/completion.h
index 266ddd281e..30f4acf81c 100644
--- a/components/drivers/include/ipc/completion.h
+++ b/components/drivers/include/ipc/completion.h
@@ -5,6 +5,7 @@
  *
  * Change Logs:
  * Date           Author       Notes
+ * 2024-04-28     Shell        Add new wait_flags() & wakeup_by_errno() API
  */
 #ifndef COMPLETION_H_
 #define COMPLETION_H_
@@ -13,7 +14,7 @@
 #include <rtconfig.h>
 
 /**
- * Completion - A tiny IPC implementation for resource-constrained scenarios
+ * Completion - A tiny & rapid IPC primitive for resource-constrained scenarios
  *
  * It's an IPC using one CPU word with the encoding:
  *
@@ -24,7 +25,7 @@
 struct rt_completion
 {
     /* suspended thread, and completed flag */
-    rt_base_t susp_thread_n_flag;
+    rt_atomic_t susp_thread_n_flag;
 };
 
 #define RT_COMPLETION_INIT(comp) {0}
@@ -32,7 +33,9 @@ struct rt_completion
 void rt_completion_init(struct rt_completion *completion);
 rt_err_t rt_completion_wait(struct rt_completion *completion,
                             rt_int32_t            timeout);
+rt_err_t rt_completion_wait_flags(struct rt_completion *completion,
+                                  rt_int32_t timeout, int suspend_flag);
 void rt_completion_done(struct rt_completion *completion);
 rt_err_t rt_completion_wakeup(struct rt_completion *completion);
-
+rt_err_t rt_completion_wakeup_by_errno(struct rt_completion *completion, rt_err_t error);
 #endif
diff --git a/components/drivers/ipc/Kconfig b/components/drivers/ipc/Kconfig
new file mode 100644
index 0000000000..4c3765ec21
--- /dev/null
+++ b/components/drivers/ipc/Kconfig
@@ -0,0 +1,23 @@
+menuconfig RT_USING_DEVICE_IPC
+    bool "Using device drivers IPC"
+    default y
+
+if RT_USING_DEVICE_IPC
+    config RT_UNAMED_PIPE_NUMBER
+        int "The number of unamed pipe"
+        default 64
+
+    config RT_USING_SYSTEM_WORKQUEUE
+        bool "Using system default workqueue"
+        default n
+
+    if RT_USING_SYSTEM_WORKQUEUE
+        config RT_SYSTEM_WORKQUEUE_STACKSIZE
+            int "The stack size for system workqueue thread"
+            default 2048
+
+        config RT_SYSTEM_WORKQUEUE_PRIORITY
+            int "The priority level of system workqueue thread"
+            default 23
+    endif
+endif
diff --git a/components/drivers/ipc/SConscript b/components/drivers/ipc/SConscript
index ba14b4bb0f..d8a18939f3 100644
--- a/components/drivers/ipc/SConscript
+++ b/components/drivers/ipc/SConscript
@@ -8,6 +8,11 @@ if not GetDepend('RT_USING_HEAP'):
     SrcRemove(src, 'dataqueue.c')
     SrcRemove(src, 'pipe.c')
 
+if not GetDepend('RT_USING_SMP'):
+    SrcRemove(src, 'completion_mp.c')
+else:
+    SrcRemove(src, 'completion_up.c')
+
 group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_DEVICE_IPC'], CPPPATH = CPPPATH, LOCAL_CPPDEFINES=['__RT_IPC_SOURCE__'])
 
 Return('group')
diff --git a/components/drivers/ipc/completion_comm.c b/components/drivers/ipc/completion_comm.c
new file mode 100644
index 0000000000..6828714489
--- /dev/null
+++ b/components/drivers/ipc/completion_comm.c
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-04-26     Shell        lockless rt_completion
+ */
+#include <rtthread.h>
+#include <rthw.h>
+#include <rtdevice.h>
+
+/**
+ * @brief This function indicates a completion has done.
+ *
+ * @param completion is a pointer to a completion object.
+ */
+void rt_completion_done(struct rt_completion *completion)
+{
+    rt_completion_wakeup_by_errno(completion, -1);
+}
+RTM_EXPORT(rt_completion_done);
+
+/**
+ * @brief   This function indicates a completion has done and wakeup the thread
+ *
+ * @param   completion is a pointer to a completion object.
+ * @return  RT_EOK if wakeup succeed.
+ *          RT_EEMPTY if wakeup failure and the completion is set to completed.
+ *          RT_EBUSY if the completion is still in completed state
+ */
+rt_err_t rt_completion_wakeup(struct rt_completion *completion)
+{
+    return rt_completion_wakeup_by_errno(completion, -1);
+}
+
+/**
+ * @brief This function will wait for a completion, if the completion is unavailable, the thread shall wait for
+ *        the completion up to a specified time.
+ *
+ * @param completion is a pointer to a completion object.
+ *
+ * @param timeout is a timeout period (unit: OS ticks). If the completion is unavailable, the thread will wait for
+ *                the completion done up to the amount of time specified by the argument.
+ *                NOTE: Generally, we use the macro RT_WAITING_FOREVER to set this parameter, which means that when the
+ *                completion is unavailable, the thread will be waitting forever.
+ *
+ * @return Return the operation status. ONLY when the return value is RT_EOK, the operation is successful.
+ *         If the return value is any other values, it means that the completion wait failed.
+ *
+ * @warning This function can ONLY be called in the thread context. It MUST NOT be called in interrupt context.
+ */
+rt_err_t rt_completion_wait(struct rt_completion *completion,
+                            rt_int32_t            timeout)
+{
+    return rt_completion_wait_flags(completion, timeout, RT_UNINTERRUPTIBLE);
+}
+RTM_EXPORT(rt_completion_wait);
diff --git a/components/drivers/ipc/completion_mp.c b/components/drivers/ipc/completion_mp.c
new file mode 100644
index 0000000000..9f7402fd23
--- /dev/null
+++ b/components/drivers/ipc/completion_mp.c
@@ -0,0 +1,346 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-04-26     Shell        lockless rt_completion for MP system
+ */
+
+#define DBG_TAG           "drivers.ipc"
+#define DBG_LVL           DBG_INFO
+#include <rtdbg.h>
+
+#include <rtthread.h>
+#include <rthw.h>
+#include <rtdevice.h>
+
+#define RT_COMPLETED        1
+#define RT_UNCOMPLETED      0
+#define RT_WAKING           (-1)
+#define RT_OCCUPIED         (-2)
+
+#define RT_COMPLETION_NEW_STAT(thread, flag) (((flag) & 1) | (((rt_base_t)thread) & ~1))
+
+/**
+ * The C11 atomic can be ~5% and even faster in testing on the arm64 platform
+ * compared to rt_atomic. So the C11 way is always preferred.
+ */
+#ifdef RT_USING_STDC_ATOMIC
+#include <stdatomic.h>
+
+#define IPC_STORE(dst, val, morder) atomic_store_explicit(dst, val, morder)
+#define IPC_LOAD(dst, morder)       atomic_load_explicit(dst, morder)
+#define IPC_BARRIER(morder)         atomic_thread_fence(morder)
+#define IPC_CAS(dst, exp, desired, succ, fail) \
+    atomic_compare_exchange_strong_explicit(dst, exp, desired, succ, fail)
+
+#else /* !RT_USING_STDC_ATOMIC */
+#include <rtatomic.h>
+
+#define IPC_STORE(dst, val, morder) rt_atomic_store(dst, val)
+#define IPC_LOAD(dst, morder)       rt_atomic_load(dst)
+#define IPC_BARRIER(morder)
+#define IPC_CAS(dst, exp, desired, succ, fail) \
+    rt_atomic_compare_exchange_strong(dst, exp, desired)
+#endif /* RT_USING_STDC_ATOMIC */
+
+static rt_err_t _comp_susp_thread(struct rt_completion *completion,
+                                  rt_thread_t thread, rt_int32_t timeout,
+                                  int suspend_flag);
+
+/**
+ * @brief This function will initialize a completion object.
+ *
+ * @param completion is a pointer to a completion object.
+ */
+void rt_completion_init(struct rt_completion *completion)
+{
+    RT_ASSERT(completion != RT_NULL);
+
+    IPC_STORE(&completion->susp_thread_n_flag, RT_UNCOMPLETED,
+              memory_order_relaxed);
+}
+RTM_EXPORT(rt_completion_init);
+
+/**
+ * @brief This function will wait for a completion, if the completion is unavailable, the thread shall wait for
+ *        the completion up to a specified time.
+ *
+ * @param completion is a pointer to a completion object.
+ *
+ * @param timeout is a timeout period (unit: OS ticks). If the completion is unavailable, the thread will wait for
+ *                the completion done up to the amount of time specified by the argument.
+ *                NOTE: Generally, we use the macro RT_WAITING_FOREVER to set this parameter, which means that when the
+ *                completion is unavailable, the thread will be waitting forever.
+ * @param suspend_flag suspend flags. See rt_thread_suspend_with_flag()
+ *
+ * @return Return the operation status. ONLY when the return value is RT_EOK, the operation is successful.
+ *         If the return value is any other values, it means that the completion wait failed.
+ *
+ * @warning This function can ONLY be called in the thread context. It MUST NOT be called in interrupt context.
+ */
+rt_err_t rt_completion_wait_flags(struct rt_completion *completion,
+                                  rt_int32_t timeout, int suspend_flag)
+{
+    rt_err_t result = -RT_ERROR;
+    rt_thread_t thread;
+    rt_bool_t exchange_succ;
+    rt_base_t expected_value;
+    RT_ASSERT(completion != RT_NULL);
+
+    /* current context checking */
+    RT_DEBUG_SCHEDULER_AVAILABLE(timeout != 0);
+
+    thread = rt_thread_self();
+
+    do
+    {
+        /* try to consume one completion */
+        expected_value = RT_COMPLETED;
+        exchange_succ =
+            IPC_CAS(&completion->susp_thread_n_flag, &expected_value,
+                    RT_UNCOMPLETED, memory_order_acquire, memory_order_relaxed);
+
+        if (exchange_succ)
+        {
+            /* consume succeed, now return EOK */
+            result = RT_EOK;
+            break;
+        }
+        else if (expected_value == RT_WAKING)
+        {
+            /* previous wake is not done yet, yield thread & try again */
+            rt_thread_yield();
+        }
+        else
+        {
+            /**
+             * API rules say: only one thread can suspend on complete.
+             * So we assert if debug.
+             */
+            RT_ASSERT(expected_value == RT_UNCOMPLETED);
+
+            if (timeout != 0)
+            {
+                /**
+                 * try to occupy completion, noted that we are assuming that
+                 * `expected_value == RT_UNCOMPLETED`
+                 */
+                exchange_succ = IPC_CAS(
+                    &completion->susp_thread_n_flag, &expected_value,
+                    RT_OCCUPIED, memory_order_relaxed, memory_order_relaxed);
+
+                if (exchange_succ)
+                {
+                    /* complete waiting business and return result */
+                    result = _comp_susp_thread(completion, thread, timeout,
+                                               suspend_flag);
+
+                    RT_ASSERT(rt_atomic_load(&completion->susp_thread_n_flag) !=
+                              RT_OCCUPIED);
+
+                    break;
+                }
+                else
+                {
+                    /* try again */
+                }
+            }
+            else
+            {
+                result = -RT_ETIMEOUT;
+                break;
+            }
+        }
+    } while (1);
+
+    return result;
+}
+
+static rt_base_t _wait_until_update(struct rt_completion *completion, rt_base_t expected)
+{
+    rt_base_t current_value;
+
+    /* spinning for update */
+    do
+    {
+        rt_hw_isb();
+        current_value =
+            IPC_LOAD(&completion->susp_thread_n_flag, memory_order_relaxed);
+    } while (current_value == expected);
+
+    return current_value;
+}
+
+/**
+ * Try to suspend thread and update completion
+ */
+static rt_err_t _comp_susp_thread(struct rt_completion *completion,
+                                  rt_thread_t thread, rt_int32_t timeout,
+                                  int suspend_flag)
+{
+    rt_err_t error = -RT_ERROR;
+    rt_base_t clevel;
+    rt_base_t comp_waiting;
+
+    /* suspend thread */
+    clevel = rt_enter_critical();
+
+    /* reset thread error number */
+    thread->error = RT_EOK;
+
+    error = rt_thread_suspend_with_flag(thread, suspend_flag);
+
+    if (error)
+    {
+        rt_exit_critical_safe(clevel);
+        RT_ASSERT(rt_atomic_load(&completion->susp_thread_n_flag) ==
+                  RT_OCCUPIED);
+        IPC_STORE(&completion->susp_thread_n_flag, RT_UNCOMPLETED,
+                  memory_order_relaxed);
+    }
+    else
+    {
+        /* set to waiting */
+        comp_waiting = RT_COMPLETION_NEW_STAT(thread, RT_UNCOMPLETED);
+        RT_ASSERT(rt_atomic_load(&completion->susp_thread_n_flag) ==
+                  RT_OCCUPIED);
+        IPC_STORE(&completion->susp_thread_n_flag, comp_waiting,
+                  memory_order_relaxed);
+
+        /* current context checking */
+        RT_DEBUG_NOT_IN_INTERRUPT;
+
+        /* start timer */
+        if (timeout > 0)
+        {
+            /* reset the timeout of thread timer and start it */
+            rt_timer_control(&(thread->thread_timer),
+                             RT_TIMER_CTRL_SET_TIME,
+                             &timeout);
+            rt_timer_start(&(thread->thread_timer));
+        }
+
+        /* do schedule */
+        rt_schedule();
+
+        rt_exit_critical_safe(clevel);
+
+        /* thread is woken up */
+        error = thread->error;
+        error = error > 0 ? -error : error;
+
+        /* clean completed flag & remove susp_thread on the case of waking by timeout */
+        if (!error)
+        {
+            /* completion done successfully */
+            RT_ASSERT(rt_atomic_load(&completion->susp_thread_n_flag) !=
+                      comp_waiting);
+
+            /* the necessary barrier is done during thread sched */
+        }
+        else
+        {
+            /* try to cancel waiting if woken up expectedly or timeout */
+            if (!IPC_CAS(&completion->susp_thread_n_flag, &comp_waiting,
+                         RT_UNCOMPLETED, memory_order_relaxed,
+                         memory_order_relaxed))
+            {
+                /* cancel failed, producer had woken us in the past, fix error */
+                if (comp_waiting == RT_WAKING)
+                {
+                    _wait_until_update(completion, RT_WAKING);
+                }
+                IPC_BARRIER(memory_order_acquire);
+                error = RT_EOK;
+            }
+        }
+    }
+
+    return error;
+}
+
+/**
+ * @brief   This function indicates a completion has done and wakeup the thread
+ *          and update its errno. No update is applied if it's a negative value.
+ *
+ * @param   completion is a pointer to a completion object.
+ * @param   thread_errno is the errno set to waking thread.
+ * @return  RT_EOK if wakeup succeed.
+ *          RT_EEMPTY if wakeup failure and the completion is set to completed.
+ *          RT_EBUSY if the completion is still in completed state
+ */
+rt_err_t rt_completion_wakeup_by_errno(struct rt_completion *completion,
+                                       rt_err_t thread_errno)
+{
+    rt_err_t error = -RT_ERROR;
+    rt_thread_t suspend_thread;
+    rt_bool_t exchange_succ;
+    rt_base_t expected_value;
+    RT_ASSERT(completion != RT_NULL);
+
+    do
+    {
+        /* try to transform from uncompleted to completed */
+        expected_value = RT_UNCOMPLETED;
+
+        exchange_succ =
+            IPC_CAS(&completion->susp_thread_n_flag, &expected_value,
+                    RT_COMPLETED, memory_order_release, memory_order_relaxed);
+
+        if (exchange_succ)
+        {
+            error = -RT_EEMPTY;
+            break;
+        }
+        else
+        {
+            if (expected_value == RT_COMPLETED)
+            {
+                /* completion still in completed state */
+                error = -RT_EBUSY;
+                break;
+            }
+            else if (expected_value == RT_OCCUPIED ||
+                     expected_value == RT_WAKING)
+            {
+                continue;
+            }
+            else
+            {
+                /* try to resume the thread and set uncompleted */
+                exchange_succ = IPC_CAS(
+                    &completion->susp_thread_n_flag, &expected_value,
+                    RT_WAKING, memory_order_relaxed, memory_order_relaxed);
+
+                if (exchange_succ)
+                {
+                    #define GET_THREAD(val) ((rt_thread_t)((val) & ~1))
+                    suspend_thread = GET_THREAD(expected_value);
+
+                    if (thread_errno >= 0)
+                    {
+                        suspend_thread->error = thread_errno;
+                    }
+
+                    /* safe to assume publication done even on resume failure */
+                    rt_thread_resume(suspend_thread);
+                    RT_ASSERT(rt_atomic_load(&completion->susp_thread_n_flag) ==
+                              RT_WAKING);
+                    IPC_STORE(&completion->susp_thread_n_flag, RT_UNCOMPLETED,
+                              memory_order_release);
+                    error = RT_EOK;
+                    break;
+                }
+                else
+                {
+                    /* failed in racing to resume thread, try again */
+                }
+            }
+        }
+    } while (1);
+
+    return error;
+}
diff --git a/components/drivers/ipc/completion.c b/components/drivers/ipc/completion_up.c
index 824f538129..6f89d92e03 100644
--- a/components/drivers/ipc/completion.c
+++ b/components/drivers/ipc/completion_up.c
@@ -19,6 +19,11 @@
 #include <rthw.h>
 #include <rtdevice.h>
 
+/**
+ * This is an implementation of completion core on UP system.
+ * Noted that spinlock is (preempt_lock + irq_mask) on UP scheduler.
+ */
+
 #define RT_COMPLETED    1
 #define RT_UNCOMPLETED  0
 #define RT_COMPLETION_FLAG(comp) ((comp)->susp_thread_n_flag & 1)
@@ -50,14 +55,15 @@ RTM_EXPORT(rt_completion_init);
  *                the completion done up to the amount of time specified by the argument.
  *                NOTE: Generally, we use the macro RT_WAITING_FOREVER to set this parameter, which means that when the
  *                completion is unavailable, the thread will be waitting forever.
+ * @param suspend_flag suspend flags. See rt_thread_suspend_with_flag()
  *
  * @return Return the operation status. ONLY when the return value is RT_EOK, the operation is successful.
  *         If the return value is any other values, it means that the completion wait failed.
  *
  * @warning This function can ONLY be called in the thread context. It MUST NOT be called in interrupt context.
  */
-rt_err_t rt_completion_wait(struct rt_completion *completion,
-                            rt_int32_t            timeout)
+rt_err_t rt_completion_wait_flags(struct rt_completion *completion,
+                                  rt_int32_t timeout, int suspend_flag)
 {
     rt_err_t result;
     rt_base_t level;
@@ -71,6 +77,8 @@ rt_err_t rt_completion_wait(struct rt_completion *completion,
     thread = rt_thread_self();
 
     level = rt_spin_lock_irqsave(&_completion_lock);
+
+__try_again:
     if (RT_COMPLETION_FLAG(completion) != RT_COMPLETED)
     {
         /* only one thread can suspend on complete */
@@ -87,11 +95,12 @@ rt_err_t rt_completion_wait(struct rt_completion *completion,
             thread->error = RT_EOK;
 
             /* suspend thread */
-            result = rt_thread_suspend_with_flag(thread, RT_UNINTERRUPTIBLE);
+            result = rt_thread_suspend_with_flag(thread, suspend_flag);
             if (result == RT_EOK)
             {
                 /* add to suspended thread */
-                completion->susp_thread_n_flag = RT_COMPLETION_NEW_STAT(thread, RT_UNCOMPLETED);
+                rt_base_t waiting_stat = RT_COMPLETION_NEW_STAT(thread, RT_UNCOMPLETED);
+                completion->susp_thread_n_flag = waiting_stat;
 
                 /* current context checking */
                 RT_DEBUG_NOT_IN_INTERRUPT;
@@ -111,10 +120,21 @@ rt_err_t rt_completion_wait(struct rt_completion *completion,
                 /* do schedule */
                 rt_schedule();
 
-                /* thread is waked up */
-                result = thread->error;
-
                 level = rt_spin_lock_irqsave(&_completion_lock);
+
+                if (completion->susp_thread_n_flag != waiting_stat)
+                {
+                    /* completion may be completed after we suspend */
+                    timeout = 0;
+                    goto __try_again;
+                }
+                else
+                {
+                    /* no changes, waiting failed */
+                    result = thread->error;
+                    result = result > 0 ? -result : result;
+                    RT_ASSERT(result != RT_EOK);
+                }
             }
         }
     }
@@ -130,11 +150,17 @@ __exit:
 RTM_EXPORT(rt_completion_wait);
 
 /**
- * @brief This function indicates a completion has done.
+ * @brief   This function indicates a completion has done and wakeup the thread
+ *          and update its errno. No update is applied if it's a negative value.
  *
- * @param completion is a pointer to a completion object.
+ * @param   completion is a pointer to a completion object.
+ * @param   thread_errno is the errno set to waking thread.
+ * @return  RT_EOK if wakeup succeed.
+ *          RT_EEMPTY if wakeup failure and the completion is set to completed.
+ *          RT_EBUSY if the completion is still in completed state
  */
-static int _completion_done(struct rt_completion *completion)
+rt_err_t rt_completion_wakeup_by_errno(struct rt_completion *completion,
+                                       rt_err_t thread_errno)
 {
     rt_base_t level;
     rt_err_t error;
@@ -153,11 +179,16 @@ static int _completion_done(struct rt_completion *completion)
     {
         /* there is one thread in suspended list */
 
-        /* resume it */
+        if (thread_errno >= 0)
+        {
+            suspend_thread->error = thread_errno;
+        }
+
         error = rt_thread_resume(suspend_thread);
         if (error)
         {
-            LOG_D("%s: failed to resume thread", __func__);
+            LOG_D("%s: failed to resume thread with %d", __func__, error);
+            error = -RT_EEMPTY;
         }
     }
     else
@@ -172,26 +203,3 @@ static int _completion_done(struct rt_completion *completion)
 
     return error;
 }
-
-/**
- * @brief This function indicates a completion has done.
- *
- * @param completion is a pointer to a completion object.
- */
-void rt_completion_done(struct rt_completion *completion)
-{
-    _completion_done(completion);
-}
-RTM_EXPORT(rt_completion_done);
-
-/**
- * @brief This function indicates a completion has done and wakeup the thread
- *
- * @param completion is a pointer to a completion object.
- */
-rt_err_t rt_completion_wakeup(struct rt_completion *completion)
-{
-    return _completion_done(completion);
-}
-RTM_EXPORT(rt_completion_wakeup);
-
diff --git a/components/drivers/ktime/inc/ktime.h b/components/drivers/ktime/inc/ktime.h
index 7ddb9e6584..a1e7d65ef0 100644
--- a/components/drivers/ktime/inc/ktime.h
+++ b/components/drivers/ktime/inc/ktime.h
@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2023-07-10     xqyjlj       The first version.
+ * 2024-04-26     Shell        Improve ipc performance
  */
 
 #ifndef __KTIME_H__
@@ -13,6 +14,7 @@
 
 #include <stdint.h>
 #include <sys/time.h>
+#include <ipc/completion.h>
 
 #include "rtthread.h"
 
@@ -20,13 +22,13 @@
 
 struct rt_ktime_hrtimer
 {
-    struct rt_object    parent; /**< inherit from rt_object */
-    rt_list_t           row;
-    void               *parameter;
-    unsigned long       init_cnt;
-    unsigned long       timeout_cnt;
-    rt_err_t            error;
-    struct rt_semaphore sem;
+    struct rt_object     parent; /**< inherit from rt_object */
+    rt_list_t            row;
+    void                 *parameter;
+    unsigned long        init_cnt;
+    unsigned long        timeout_cnt;
+    rt_err_t             error;
+    struct rt_completion completion;
     void (*timeout_func)(void *parameter);
 };
 typedef struct rt_ktime_hrtimer *rt_ktime_hrtimer_t;
diff --git a/components/drivers/ktime/src/hrtimer.c b/components/drivers/ktime/src/hrtimer.c
index 184ee94fd0..b26bd27975 100644
--- a/components/drivers/ktime/src/hrtimer.c
+++ b/components/drivers/ktime/src/hrtimer.c
@@ -107,9 +107,8 @@ static unsigned long _cnt_convert(unsigned long cnt)
 
 static void _sleep_timeout(void *parameter)
 {
-    struct rt_semaphore *sem;
-    sem = (struct rt_semaphore *)parameter;
-    rt_sem_release(sem);
+    struct rt_ktime_hrtimer *timer = parameter;
+    rt_completion_done(&timer->completion);
 }
 
 static void _set_next_timeout(void);
@@ -119,18 +118,15 @@ static void _timeout_callback(void *parameter)
     timer = (rt_ktime_hrtimer_t)parameter;
     rt_base_t level;
 
-    level     = rt_spin_lock_irqsave(&_spinlock);
-    _nowtimer = RT_NULL;
-    rt_list_remove(&(timer->row));
     if (timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)
     {
-        rt_spin_unlock_irqrestore(&_spinlock, level);
         timer->timeout_func(timer->parameter);
     }
-    else
-    {
-        rt_spin_unlock_irqrestore(&_spinlock, level);
-    }
+
+    level     = rt_spin_lock_irqsave(&_spinlock);
+    _nowtimer = RT_NULL;
+    rt_list_remove(&(timer->row));
+    rt_spin_unlock_irqrestore(&_spinlock, level);
 
     _set_next_timeout();
 }
@@ -195,7 +191,7 @@ void rt_ktime_hrtimer_init(rt_ktime_hrtimer_t timer,
     timer->init_cnt     = cnt;
 
     rt_list_init(&(timer->row));
-    rt_sem_init(&(timer->sem), "hrtimer", 0, RT_IPC_FLAG_PRIO);
+    rt_completion_init(&timer->completion);
 }
 
 rt_err_t rt_ktime_hrtimer_start(rt_ktime_hrtimer_t timer)
@@ -206,6 +202,9 @@ rt_err_t rt_ktime_hrtimer_start(rt_ktime_hrtimer_t timer)
     /* parameter check */
     RT_ASSERT(timer != RT_NULL);
 
+    /* notify the timer stop event */
+    rt_completion_wakeup_by_errno(&timer->completion, RT_ERROR);
+
     level = rt_spin_lock_irqsave(&_spinlock);
     rt_list_remove(&timer->row); /* remove timer from list */
     /* change status of timer */
@@ -333,6 +332,9 @@ rt_err_t rt_ktime_hrtimer_detach(rt_ktime_hrtimer_t timer)
     /* parameter check */
     RT_ASSERT(timer != RT_NULL);
 
+    /* notify the timer stop event */
+    rt_completion_wakeup_by_errno(&timer->completion, RT_ERROR);
+
     level = rt_spin_lock_irqsave(&_spinlock);
 
     /* stop timer */
@@ -349,7 +351,6 @@ rt_err_t rt_ktime_hrtimer_detach(rt_ktime_hrtimer_t timer)
     {
         rt_spin_unlock_irqrestore(&_spinlock, level);
     }
-    rt_sem_detach(&(timer->sem));
 
     return RT_EOK;
 }
@@ -359,7 +360,7 @@ rt_err_t rt_ktime_hrtimer_detach(rt_ktime_hrtimer_t timer)
 void rt_ktime_hrtimer_delay_init(struct rt_ktime_hrtimer *timer)
 {
     rt_ktime_hrtimer_init(timer, "hrtimer_sleep", 0, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_HARD_TIMER,
-                          _sleep_timeout, &(timer->sem));
+                          _sleep_timeout, timer);
 }
 
 void rt_ktime_hrtimer_delay_detach(struct rt_ktime_hrtimer *timer)
@@ -378,7 +379,8 @@ rt_err_t rt_ktime_hrtimer_sleep(struct rt_ktime_hrtimer *timer, unsigned long cn
     timer->init_cnt     = cnt;
 
     rt_ktime_hrtimer_start(timer); /* reset the timeout of thread timer and start it */
-    err = rt_sem_take_interruptible(&(timer->sem), RT_WAITING_FOREVER);
+    err = rt_completion_wait_flags(&(timer->completion), RT_WAITING_FOREVER,
+                                   RT_INTERRUPTIBLE);
     rt_ktime_hrtimer_keep_errno(timer, err);
 
     return RT_EOK;
diff --git a/examples/utest/testcases/Kconfig b/examples/utest/testcases/Kconfig
index d81216f5b4..248dbd8d3c 100644
--- a/examples/utest/testcases/Kconfig
+++ b/examples/utest/testcases/Kconfig
@@ -11,6 +11,7 @@ source "$RTT_DIR/examples/utest/testcases/utest/Kconfig"
 source "$RTT_DIR/examples/utest/testcases/kernel/Kconfig"
 source "$RTT_DIR/examples/utest/testcases/cpp11/Kconfig"
 source "$RTT_DIR/examples/utest/testcases/drivers/serial_v2/Kconfig"
+source "$RTT_DIR/examples/utest/testcases/drivers/ipc/Kconfig"
 source "$RTT_DIR/examples/utest/testcases/posix/Kconfig"
 source "$RTT_DIR/examples/utest/testcases/mm/Kconfig"
 
diff --git a/examples/utest/testcases/drivers/ipc/Kconfig b/examples/utest/testcases/drivers/ipc/Kconfig
new file mode 100644
index 0000000000..0e76161225
--- /dev/null
+++ b/examples/utest/testcases/drivers/ipc/Kconfig
@@ -0,0 +1,7 @@
+menu "Utest IPC Testcase"
+
+config UTEST_COMPLETION_TC
+    bool "rt_completion testcase"
+    default n
+
+endmenu
diff --git a/examples/utest/testcases/drivers/ipc/SConscript b/examples/utest/testcases/drivers/ipc/SConscript
new file mode 100644
index 0000000000..c1ae9c40f1
--- /dev/null
+++ b/examples/utest/testcases/drivers/ipc/SConscript
@@ -0,0 +1,13 @@
+Import('rtconfig')
+from building import *
+
+cwd     = GetCurrentDir()
+src     = []
+CPPPATH = [cwd]
+
+if GetDepend(['UTEST_COMPLETION_TC']):
+    src += ['completion_tc.c', 'completion_timeout_tc.c']
+
+group = DefineGroup('utestcases', src, depend = ['RT_USING_UTESTCASES'], CPPPATH = CPPPATH)
+
+Return('group')
diff --git a/examples/utest/testcases/drivers/ipc/completion_tc.c b/examples/utest/testcases/drivers/ipc/completion_tc.c
new file mode 100644
index 0000000000..fa7958963b
--- /dev/null
+++ b/examples/utest/testcases/drivers/ipc/completion_tc.c
@@ -0,0 +1,199 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-04-30     Shell        init ver.
+ */
+
+/**
+ * Test Case for rt_completion API
+ *
+ * The test simulates a producer-consumer interaction where a producer thread
+ * generates data, and a consumer thread consumes the data after waiting for its
+ * availability using rt_completion synchronization primitives.
+ *
+ * Test Criteria:
+ * - The producer should correctly increment the test data and signal
+ *   completion.
+ * - The consumer should correctly wait for data update, consume it, and signal
+ *   completion.
+ * - Data integrity should be maintained between producer and consumer.
+ * - Synchronization is properly done so both can see consistent data.
+ * - Random latency is introduced to simulate racing scenarios.
+ */
+
+#define TEST_LATENCY_TICK (1)
+#define TEST_LOOP_TIMES   (60 * RT_TICK_PER_SECOND)
+#define TEST_PROGRESS_ON  (RT_TICK_PER_SECOND)
+
+#include "utest.h"
+
+#include <ipc/completion.h>
+#include <rtthread.h>
+#include <stdlib.h>
+
+static struct rt_completion _prod_completion;
+static struct rt_completion _cons_completion;
+static int _test_data = 0;
+static rt_atomic_t _progress_counter;
+static struct rt_semaphore _thr_exit_sem;
+
+static void done_safely(struct rt_completion *completion)
+{
+    rt_err_t error;
+
+    /* Signal completion */
+    error = rt_completion_wakeup(completion);
+
+    /* try again if failed to produce */
+    if (error == -RT_EEMPTY)
+    {
+        rt_thread_yield();
+    }
+    else if (error)
+    {
+        uassert_false(0);
+        rt_thread_delete(rt_thread_self());
+    }
+}
+
+static void wait_safely(struct rt_completion *completion)
+{
+    rt_err_t error;
+    do
+    {
+        error = rt_completion_wait_flags(completion, RT_WAITING_FOREVER,
+                                         RT_INTERRUPTIBLE);
+        if (error)
+        {
+            uassert_true(error == -RT_EINTR);
+            rt_thread_yield();
+        }
+        else
+        {
+            break;
+        }
+    } while (1);
+}
+
+static void producer_thread_entry(void *parameter)
+{
+    for (size_t i = 0; i < TEST_LOOP_TIMES; i++)
+    {
+        /* Produce data */
+        _test_data++;
+
+        /* notify consumer */
+        done_safely(&_prod_completion);
+
+        /* Delay before producing next data */
+        rt_thread_delay(TEST_LATENCY_TICK);
+
+        /* sync with consumer */
+        wait_safely(&_cons_completion);
+    }
+
+    rt_sem_release(&_thr_exit_sem);
+}
+
+static void _wait_until_edge(void)
+{
+    rt_tick_t entry_level, current;
+    rt_base_t random_latency;
+
+    entry_level = rt_tick_get();
+    do
+    {
+        current = rt_tick_get();
+    } while (current == entry_level);
+
+    /* give a random latency for test */
+    random_latency = rand();
+    entry_level = current;
+    for (size_t i = 0; i < random_latency; i++)
+    {
+        current = rt_tick_get();
+        if (current != entry_level) break;
+    }
+}
+
+static void consumer_thread_entry(void *parameter)
+{
+    int local_test_data = 0;
+
+    rt_thread_startup(parameter);
+
+    for (size_t i = 0; i < TEST_LOOP_TIMES; i++)
+    {
+        /* add more random case for test */
+        _wait_until_edge();
+
+        /* Wait for data update */
+        wait_safely(&_prod_completion);
+
+        /* Consume data */
+        if (local_test_data + 1 != _test_data)
+        {
+            LOG_I("local test data is %d, shared test data is %d",
+                  local_test_data, _test_data);
+            uassert_true(0);
+        }
+        else if (rt_atomic_add(&_progress_counter, 1) % TEST_PROGRESS_ON == 0)
+        {
+            uassert_true(1);
+        }
+
+        local_test_data = _test_data;
+        done_safely(&_cons_completion);
+    }
+
+    rt_sem_release(&_thr_exit_sem);
+}
+
+static void testcase(void)
+{
+    /* Initialize completion object */
+    rt_completion_init(&_prod_completion);
+    rt_completion_init(&_cons_completion);
+
+    /* Create producer and consumer threads */
+    rt_thread_t producer_thread =
+        rt_thread_create("producer", producer_thread_entry, RT_NULL,
+                         UTEST_THR_STACK_SIZE, UTEST_THR_PRIORITY, 100);
+    rt_thread_t consumer_thread =
+        rt_thread_create("consumer", consumer_thread_entry, producer_thread,
+                         UTEST_THR_STACK_SIZE, UTEST_THR_PRIORITY, 100);
+    uassert_true(producer_thread != RT_NULL);
+    uassert_true(consumer_thread != RT_NULL);
+
+    LOG_I("Summary:\n"
+          "\tTest times: %ds(%d)",
+          TEST_LOOP_TIMES / RT_TICK_PER_SECOND, TEST_LOOP_TIMES);
+
+    rt_thread_startup(consumer_thread);
+
+    for (size_t i = 0; i < 2; i++)
+    {
+        rt_sem_take(&_thr_exit_sem, RT_WAITING_FOREVER);
+    }
+}
+
+static rt_err_t utest_tc_init(void)
+{
+    _test_data = 0;
+    _progress_counter = 0;
+    rt_sem_init(&_thr_exit_sem, "test", 0, RT_IPC_FLAG_PRIO);
+    return RT_EOK;
+}
+
+static rt_err_t utest_tc_cleanup(void)
+{
+    rt_sem_detach(&_thr_exit_sem);
+    return RT_EOK;
+}
+
+UTEST_TC_EXPORT(testcase, "testcases.drivers.ipc.rt_completion.basic",
+                utest_tc_init, utest_tc_cleanup, 10);
diff --git a/examples/utest/testcases/drivers/ipc/completion_timeout_tc.c b/examples/utest/testcases/drivers/ipc/completion_timeout_tc.c
new file mode 100644
index 0000000000..abceeea17d
--- /dev/null
+++ b/examples/utest/testcases/drivers/ipc/completion_timeout_tc.c
@@ -0,0 +1,213 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-04-30     Shell        init ver.
+ */
+
+/**
+ * Test Case for rt_completion API
+ *
+ * The test simulates a producer-consumer interaction where a producer thread
+ * generates data, and a consumer thread consumes the data after waiting for its
+ * availability using rt_completion synchronization primitives.
+ *
+ * Test Criteria:
+ * - The producer produces data correctly and notifies the consumer thread.
+ * - The consumer receives data correctly and acknowledges receipt to the
+ *   producer.
+ * - The producer and consumer threads synchronize their operations effectively.
+ * - Verify the correctness of data production and consumption between producer
+ *   and consumer threads.
+ * - The asynchronous woken of consumer thread was handled properly so the
+ *   consumer don't lose woken from producer.
+ *
+ * Test APIs:
+ * - rt_completion_init()
+ * - rt_completion_wakeup()
+ * - rt_completion_wait_flags()
+ */
+
+#define TEST_LATENCY_TICK (1)
+#define TEST_LOOP_TIMES   (60 * RT_TICK_PER_SECOND)
+#define TEST_PROGRESS_ON  (RT_TICK_PER_SECOND)
+
+#include "utest.h"
+
+#include <ipc/completion.h>
+#include <rtthread.h>
+#include <stdlib.h>
+
+static struct rt_completion _prod_completion;
+static struct rt_completion _cons_completion;
+static int _test_data;
+static int _async_intr_count;
+static rt_atomic_t _progress_counter;
+static struct rt_semaphore _thr_exit_sem;
+
+static void _test_thread_exit_failure(char *string)
+{
+    LOG_E("\t[TEST failed] %s", string);
+
+    rt_sem_release(&_thr_exit_sem);
+    rt_thread_delete(rt_thread_self());
+}
+
+static void done_safely(struct rt_completion *completion)
+{
+    rt_err_t error;
+
+    /* Signal completion */
+    error = rt_completion_wakeup(completion);
+
+    /* try again if failed to produce */
+    if (error == -RT_EEMPTY)
+    {
+        rt_thread_yield();
+    }
+    else if (error)
+    {
+        uassert_true(error == RT_EOK);
+        _test_thread_exit_failure("unexpected error");
+    }
+}
+
+static void wait_safely(struct rt_completion *completion)
+{
+    int try_times = 3;
+    rt_err_t error;
+    do
+    {
+        /* wait for one tick, to add more random */
+        error = rt_completion_wait_flags(completion, 1, RT_INTERRUPTIBLE);
+        if (error)
+        {
+            if (error == -RT_ETIMEOUT || error == -RT_EINTR)
+            {
+                _async_intr_count++;
+            }
+            else
+            {
+                LOG_I("Async event %d\n", error);
+                uassert_true(0);
+            }
+            rt_thread_yield();
+        }
+        else
+        {
+            break;
+        }
+    } while (try_times--);
+
+    if (error != RT_EOK)
+    {
+        uassert_true(error == RT_EOK);
+        _test_thread_exit_failure("wait failed");
+    }
+}
+
+static void producer_thread_entry(void *parameter)
+{
+    for (size_t i = 0; i < TEST_LOOP_TIMES; i++)
+    {
+        /* Produce data */
+        _test_data++;
+
+        /* Delay before producing next data */
+        rt_thread_delay(TEST_LATENCY_TICK);
+
+        /* notify consumer */
+        done_safely(&_prod_completion);
+
+        /* sync with consumer */
+        wait_safely(&_cons_completion);
+    }
+
+    rt_sem_release(&_thr_exit_sem);
+}
+
+static void consumer_thread_entry(void *parameter)
+{
+    int local_test_data = 0;
+
+    rt_thread_startup(parameter);
+
+    for (size_t i = 0; i < TEST_LOOP_TIMES; i++)
+    {
+        /* Wait for data update */
+        wait_safely(&_prod_completion);
+
+        /* Consume data */
+        if (local_test_data + 1 != _test_data)
+        {
+            LOG_I("local test data is %d, shared test data is %d",
+                  local_test_data, _test_data);
+            uassert_true(0);
+        }
+        else if (rt_atomic_add(&_progress_counter, 1) % TEST_PROGRESS_ON == 0)
+        {
+            uassert_true(1);
+        }
+
+        local_test_data = _test_data;
+        done_safely(&_cons_completion);
+    }
+
+    rt_sem_release(&_thr_exit_sem);
+}
+
+rt_thread_t _watching_thread1;
+rt_thread_t _watching_thread2;
+
+static void testcase(void)
+{
+    /* Initialize completion object */
+    rt_completion_init(&_prod_completion);
+    rt_completion_init(&_cons_completion);
+
+    /* Create producer and consumer threads */
+    rt_thread_t producer_thread =
+        rt_thread_create("producer", producer_thread_entry, RT_NULL,
+                         UTEST_THR_STACK_SIZE, UTEST_THR_PRIORITY, 100);
+    rt_thread_t consumer_thread =
+        rt_thread_create("consumer", consumer_thread_entry, producer_thread,
+                         UTEST_THR_STACK_SIZE, UTEST_THR_PRIORITY, 100);
+    uassert_true(producer_thread != RT_NULL);
+    uassert_true(consumer_thread != RT_NULL);
+    _watching_thread1 = consumer_thread;
+    _watching_thread2 = producer_thread;
+
+    rt_thread_startup(consumer_thread);
+
+    for (size_t i = 0; i < 2; i++)
+    {
+        rt_sem_take(&_thr_exit_sem, RT_WAITING_FOREVER);
+    }
+
+    LOG_I("Summary:\n"
+          "\tTest times: %ds(%d times)\n"
+          "\tAsync interruption count: %d\n",
+          TEST_LOOP_TIMES / RT_TICK_PER_SECOND, TEST_LOOP_TIMES,
+          _async_intr_count);
+}
+
+static rt_err_t utest_tc_init(void)
+{
+    _test_data = 0;
+    _progress_counter = 0;
+    _async_intr_count = 0;
+    rt_sem_init(&_thr_exit_sem, "test", 0, RT_IPC_FLAG_PRIO);
+    return RT_EOK;
+}
+
+static rt_err_t utest_tc_cleanup(void)
+{
+    rt_sem_detach(&_thr_exit_sem);
+    return RT_EOK;
+}
+
+UTEST_TC_EXPORT(testcase, "testcases.drivers.ipc.rt_completion.timeout",
+                utest_tc_init, utest_tc_cleanup, 1000);
diff --git a/include/rthw.h b/include/rthw.h
index 1b4380c479..67a44acd17 100644
--- a/include/rthw.h
+++ b/include/rthw.h
@@ -227,7 +227,8 @@ void rt_hw_secondary_cpu_up(void);
  * secondary cpu idle function
  */
 void rt_hw_secondary_cpu_idle_exec(void);
-#else
+
+#else /* !RT_USING_SMP */
 
 #define RT_DEFINE_HW_SPINLOCK(x)    rt_ubase_t x
 
@@ -235,13 +236,13 @@ void rt_hw_secondary_cpu_idle_exec(void);
 #define rt_hw_spin_unlock(lock)   rt_hw_interrupt_enable(*(lock))
 
 
-#endif
+#endif /* RT_USING_SMP */
 
 #ifndef RT_USING_CACHE
-#define rt_hw_isb()
-#define rt_hw_dmb()
-#define rt_hw_dsb()
-#endif
+    #define rt_hw_isb()
+    #define rt_hw_dmb()
+    #define rt_hw_dsb()
+#endif /* RT_USING_CACHE */
 
 #ifdef __cplusplus
 }
diff --git a/libcpu/risc-v/rv64/cpuport.c b/libcpu/risc-v/rv64/cpuport.c
new file mode 100644
index 0000000000..cb222821b9
--- /dev/null
+++ b/libcpu/risc-v/rv64/cpuport.c
@@ -0,0 +1,17 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-04-26     Shell        lockless rt_completion
+ */
+
+#include <rtthread.h>
+
+#undef rt_hw_isb
+rt_weak void rt_hw_isb(void)
+{
+    return ;
+}
diff --git a/src/Kconfig b/src/Kconfig
index 8a96405ed5..91eefbf5c6 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -35,6 +35,7 @@ config RT_USING_SMART
     select RT_USING_POSIX_TERMIOS
     select RT_USING_KTIME
     select RT_USING_STDC_ATOMIC
+    select RT_USING_SYSTEM_WORKQUEUE
     depends on ARCH_ARM_CORTEX_M || ARCH_ARM_ARM9 || ARCH_ARM_CORTEX_A || ARCH_ARMV8 || ARCH_RISCV64
     depends on !RT_USING_NANO
     help