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schedule: add support for user-space LL scheduler #10508

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151f8af
debug: telemetry: add a dependency to kernel mode LL thread
kv2019i Jan 15, 2026
bc6e416
schedule: add a dependency for LL stats on kernel mode LL thread
kv2019i Jan 15, 2026
9a465e5
schedule: add support for user-space LL scheduler
kv2019i Jan 29, 2026
9ecca3b
zephyr: test: add test case for user-space ll scheduling
kv2019i Jan 29, 2026
e57df1a
zephyr: test: align Cmake style
kv2019i Jan 14, 2026
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1 change: 1 addition & 0 deletions src/debug/telemetry/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
config SOF_TELEMETRY
bool "enable telemetry"
default n
depends on !SOF_USERSPACE_LL
help
Enables telemetry. Enables performance measurements and debug utilities
that use memory window 2 (debug window) as interface. Measurements include
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5 changes: 5 additions & 0 deletions src/include/sof/schedule/ll_schedule.h
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Expand Up @@ -53,6 +53,11 @@ int zephyr_ll_task_init(struct task *task,
#define scheduler_init_ll zephyr_ll_scheduler_init
#define schedule_task_init_ll zephyr_ll_task_init

struct task *zephyr_ll_task_alloc(void);
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@lyakh lyakh Jan 30, 2026

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also declared in ll_schedule_domain.h

k_tid_t zephyr_ll_get_thread(int core);
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@lyakh lyakh Jan 30, 2026

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nitpick: I think we use struct k_thread * mostly in SOF and it seems to "work better" with various simulation / testing builds, I was getting "undefined" errors when I tried to use k_tid_t

struct k_mem_domain *zephyr_ll_mem_domain(void);
struct k_heap *zephyr_ll_heap_init(void);

#endif

/**
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42 changes: 39 additions & 3 deletions src/include/sof/schedule/ll_schedule_domain.h
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Expand Up @@ -66,7 +66,11 @@ struct ll_schedule_domain_ops {
struct ll_schedule_domain {
uint64_t next_tick; /**< ticks just set for next run */
uint64_t new_target_tick; /**< for the next set, used during the reschedule stage */
struct k_spinlock lock; /**< standard lock */
#if defined(__ZEPHYR__)
struct k_mutex *lock; /**< standard lock */
#else
struct k_spinlock lock; /**< standard lock */
#endif
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@lyakh lyakh Jan 30, 2026

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note: this change actually modifies the current behaviour already.

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@kv2019i kv2019i Jan 30, 2026

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Ack @lyakh , discussed offline and I think I'll go back a step and keep the kernel LL build using spinlocks (and/or make it a separate PR).

atomic_t total_num_tasks; /**< total number of registered tasks */
atomic_t enabled_cores; /**< number of enabled cores */
uint32_t ticks_per_ms; /**< number of clock ticks per ms */
Expand All @@ -93,13 +97,30 @@ static inline struct ll_schedule_domain *dma_domain_get(void)
return sof_get()->platform_dma_domain;
}

#if defined(__ZEPHYR__)
struct ll_schedule_domain *zephyr_ll_domain(void);
struct ll_schedule_domain *zephyr_domain_init(int clk);
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@lyakh lyakh Jan 30, 2026

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zephyr_ll_domain_init()?

#if CONFIG_SOF_USERSPACE_LL
struct k_heap *zephyr_ll_heap(void);
struct task *zephyr_ll_task_alloc(void);
void zephyr_ll_resources_init(void);
int zephyr_ll_mem_domain_add_partition(struct k_mem_partition *partition);
int zephyr_ll_mem_domain_add_thread(k_tid_t thread);
#endif /* CONFIG_SOF_USERSPACE_LL */
#endif

static inline struct ll_schedule_domain *domain_init
(int type, int clk, bool synchronous,
const struct ll_schedule_domain_ops *ops)
{
struct ll_schedule_domain *domain;

#if defined(__ZEPHYR__) && CONFIG_SOF_USERSPACE_LL
domain = sof_heap_alloc(zephyr_ll_heap(), SOF_MEM_FLAG_USER | SOF_MEM_FLAG_COHERENT,
sizeof(*domain), sizeof(void *));
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@softwarecki softwarecki Jan 30, 2026

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Missing memset

#else
domain = rzalloc(SOF_MEM_FLAG_KERNEL | SOF_MEM_FLAG_COHERENT, sizeof(*domain));
#endif
if (!domain)
return NULL;
domain->type = type;
Expand All @@ -116,7 +137,23 @@ static inline struct ll_schedule_domain *domain_init
domain->next_tick = UINT64_MAX;
domain->new_target_tick = UINT64_MAX;

#if defined(__ZEPHYR__)

#if defined(CONFIG_SOF_USERSPACE_LL)
/* Allocate mutex dynamically for userspace access */
domain->lock = k_object_alloc(K_OBJ_MUTEX);
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@lyakh lyakh Jan 30, 2026

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I think this allocates cached?

#else /* !CONFIG_SOF_USERSPACE_LL */
domain->lock = rzalloc(SOF_MEM_FLAG_KERNEL | SOF_MEM_FLAG_COHERENT, sizeof(*domain->lock));
#endif
if (!domain->lock) {
rfree(domain);
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@softwarecki softwarecki Jan 30, 2026

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heap_free(zephyr_ll_heap(), ... for CONFIG_SOF_USERSPACE_LL?

return NULL;
}
k_mutex_init(domain->lock);

#else /* !__ZEPHYR */
k_spinlock_init(&domain->lock);
#endif
atomic_init(&domain->total_num_tasks, 0);
atomic_init(&domain->enabled_cores, 0);

Expand Down Expand Up @@ -243,9 +280,8 @@ struct ll_schedule_domain *zephyr_dma_domain_init(struct dma *dma_array,
uint32_t num_dma,
int clk);
#endif /* CONFIG_DMA_DOMAIN */
struct ll_schedule_domain *zephyr_ll_domain(void);
struct ll_schedule_domain *zephyr_domain_init(int clk);
#define timer_domain_init(timer, clk) zephyr_domain_init(clk)
k_tid_t zephyr_domain_thread_tid(struct ll_schedule_domain *domain);
#endif
Comment on lines 283 to 285
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Copilot AI Jan 29, 2026

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Declaration of zephyr_domain_thread_tid is placed outside the CONFIG_SOF_USERSPACE_LL guard (lines 103-109) where it logically belongs based on its implementation. This function is only implemented when CONFIG_SOF_USERSPACE_LL is enabled, so its declaration should be within the same conditional block to prevent link errors.

Suggested change
#define timer_domain_init(timer, clk) zephyr_domain_init(clk)
k_tid_t zephyr_domain_thread_tid(struct ll_schedule_domain *domain);
#endif
#define timer_domain_init(timer, clk) zephyr_domain_init(clk)
#if CONFIG_SOF_USERSPACE_LL
k_tid_t zephyr_domain_thread_tid(struct ll_schedule_domain *domain);
#endif
#endif

Copilot uses AI. Check for mistakes.

struct ll_schedule_domain *dma_multi_chan_domain_init(struct dma *dma_array,
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4 changes: 4 additions & 0 deletions src/init/init.c
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Expand Up @@ -218,6 +218,10 @@ __cold static int primary_core_init(int argc, char *argv[], struct sof *sof)
io_perf_monitor_init();
#endif

#if CONFIG_SOF_USERSPACE_LL
zephyr_ll_resources_init();
#endif

/* init the platform */
if (platform_init(sof) < 0)
sof_panic(SOF_IPC_PANIC_PLATFORM);
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1 change: 1 addition & 0 deletions src/schedule/Kconfig
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Expand Up @@ -15,6 +15,7 @@ config SCHEDULE_DMA_MULTI_CHANNEL
config SCHEDULE_LL_STATS_LOG
bool "Log low-latency scheduler statistics"
default y
depends on !SOF_USERSPACE_LL
help
Log statistics from low-latency scheduler. This is a low overhead
mechanism to gather average and worst-case execution times of
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