diff mbox series

[v3] usb: typec: tcpm: Migrate workqueue to RT priority for processing events

Message ID 20200730022457.3021112-1-badhri@google.com (mailing list archive)
State Superseded
Headers show
Series [v3] usb: typec: tcpm: Migrate workqueue to RT priority for processing events | expand

Commit Message

Badhri Jagan Sridharan July 30, 2020, 2:24 a.m. UTC 
"tReceiverResponse 15 ms Section 6.6.2
The receiver of a Message requiring a response Shall respond
within tReceiverResponse in order to ensure that the
sender’s SenderResponseTimer does not expire."

When the cpu complex is busy running other lower priority
work items, TCPM's work queue sometimes does not get scheduled
on time to meet the above requirement from the spec.
Moving to kthread_work apis to run with real time priority.
Just lower than the default threaded irq priority,
MAX_USER_RT_PRIO/2 + 1. (Higher number implies lower priority).

Further, as observed in 1ff688209e2e, moving to hrtimers to
overcome scheduling latency while scheduling the delayed work.

TCPM has three work streams:
1. tcpm_state_machine
2. vdm_state_machine
3. event_work

tcpm_state_machine and vdm_state_machine both schedule work in
future i.e. delayed. Hence each of them have a corresponding
hrtimer, tcpm_state_machine_timer & vdm_state_machine_timer.

When work is queued right away kthread_queue_work is used.
Else, the relevant timer is programmed and made to queue
the kthread_work upon timer expiry.

kthread_create_worker only creates one kthread worker thread,
hence single threadedness of workqueue is retained.

Signed-off-by: Badhri Jagan Sridharan <badhri@google.com>
Reviewed-by: Guenter Roeck <linux@roeck-us.net>
Reviewed-by: Heikki Krogerus <heikki.krogerus@linux.intel.com>
---
Changes since v1:(Guenter's suggestions)
- Remove redundant call to hrtimer_cancel while calling
  hrtimer_start.

Changes since v2:(Greg KH's suggestions)
- Rebase usb-next TOT.
  633198cd2945b7 (HEAD -> usb-next-1) usb: typec: tcpm: Migrate workqueue to RT priority for processing events
  fa56dd9152ef95 (origin/usb-next) Merge tag 'usb-serial-5.9-rc1' of https://git.kernel.org/pub/scm/linux/kernel/git/johan/usb-serial into usb-next
  25252919a1050e xhci: dbgtty: Make some functions static
  b0e02550346e67 xhci: dbc: Make function xhci_dbc_ring_alloc() static
  ca6377900974c3 Revert "usb: dwc2: override PHY input signals with usb role switch support"
  09df709cb5aeb2 Revert "usb: dwc2: don't use ID/Vbus detection if usb-role-switch on STM32MP15 SoCs"
  17a82716587e9d USB: iowarrior: fix up report size handling for some devices
  e98ba8cc3f8a89 Merge tag 'usb-for-v5.9' of git://git.kernel.org/pub/scm/linux/kernel/git/balbi/usb into usb-next
  c97793089b11f7 Merge 5.8-rc7 into usb-next
  92ed301919932f (tag: v5.8-rc7, origin/usb-linus, origin/main) Linux 5.8-rc7

- Added reviewed-by tags.
---
 drivers/usb/typec/tcpm/tcpm.c | 140 ++++++++++++++++++++++------------
 1 file changed, 92 insertions(+), 48 deletions(-)

Comments

Greg KH July 30, 2020, 6:43 a.m. UTC | #1 
On Wed, Jul 29, 2020 at 07:24:57PM -0700, Badhri Jagan Sridharan wrote:
> "tReceiverResponse 15 ms Section 6.6.2
> The receiver of a Message requiring a response Shall respond
> within tReceiverResponse in order to ensure that the
> sender’s SenderResponseTimer does not expire."
> 
> When the cpu complex is busy running other lower priority
> work items, TCPM's work queue sometimes does not get scheduled
> on time to meet the above requirement from the spec.
> Moving to kthread_work apis to run with real time priority.
> Just lower than the default threaded irq priority,
> MAX_USER_RT_PRIO/2 + 1. (Higher number implies lower priority).
> 
> Further, as observed in 1ff688209e2e, moving to hrtimers to
> overcome scheduling latency while scheduling the delayed work.
> 
> TCPM has three work streams:
> 1. tcpm_state_machine
> 2. vdm_state_machine
> 3. event_work
> 
> tcpm_state_machine and vdm_state_machine both schedule work in
> future i.e. delayed. Hence each of them have a corresponding
> hrtimer, tcpm_state_machine_timer & vdm_state_machine_timer.
> 
> When work is queued right away kthread_queue_work is used.
> Else, the relevant timer is programmed and made to queue
> the kthread_work upon timer expiry.
> 
> kthread_create_worker only creates one kthread worker thread,
> hence single threadedness of workqueue is retained.
> 
> Signed-off-by: Badhri Jagan Sridharan <badhri@google.com>
> Reviewed-by: Guenter Roeck <linux@roeck-us.net>
> Reviewed-by: Heikki Krogerus <heikki.krogerus@linux.intel.com>
> ---
> Changes since v1:(Guenter's suggestions)
> - Remove redundant call to hrtimer_cancel while calling
>   hrtimer_start.
> 
> Changes since v2:(Greg KH's suggestions)
> - Rebase usb-next TOT.
>   633198cd2945b7 (HEAD -> usb-next-1) usb: typec: tcpm: Migrate workqueue to RT priority for processing events
>   fa56dd9152ef95 (origin/usb-next) Merge tag 'usb-serial-5.9-rc1' of https://git.kernel.org/pub/scm/linux/kernel/git/johan/usb-serial into usb-next
>   25252919a1050e xhci: dbgtty: Make some functions static
>   b0e02550346e67 xhci: dbc: Make function xhci_dbc_ring_alloc() static
>   ca6377900974c3 Revert "usb: dwc2: override PHY input signals with usb role switch support"
>   09df709cb5aeb2 Revert "usb: dwc2: don't use ID/Vbus detection if usb-role-switch on STM32MP15 SoCs"
>   17a82716587e9d USB: iowarrior: fix up report size handling for some devices
>   e98ba8cc3f8a89 Merge tag 'usb-for-v5.9' of git://git.kernel.org/pub/scm/linux/kernel/git/balbi/usb into usb-next
>   c97793089b11f7 Merge 5.8-rc7 into usb-next
>   92ed301919932f (tag: v5.8-rc7, origin/usb-linus, origin/main) Linux 5.8-rc7
> 

Hm, still does not apply.  I think it has something to do with other
patches that landed before yours, can you rebase again?

thanks,

greg k-h
Badhri Jagan Sridharan July 30, 2020, 7:28 a.m. UTC | #2 
Hi Greg,

Yes Guenter's suspicion is right. Mine was conflicting with Han's
following patch:
commit 5f2b8d87bca528616e04344d1fc4032dc5ec0f3d
Author: Hans de Goede <hdegoede@redhat.com>
Date:   Fri Jul 24 19:46:57 2020 +0200

    usb: typec: tcpm: Move mod_delayed_work(&port->vdm_state_machine)
call into tcpm_queue_vdm()

    All callers of tcpm_queue_vdm() immediately follow the tcpm_queue_vdm()
    vdm call with a:

            mod_delayed_work(port->wq, &port->vdm_state_machine, 0);

    Call, fold this into tcpm_queue_vdm() itself.

    Reviewed-by: Guenter Roeck <linux@roeck-us.net>
    Reviewed-by: Heikki Krogerus <heikki.krogerus@linux.intel.com>
    Signed-off-by: Hans de Goede <hdegoede@redhat.com>
    Link: https://lore.kernel.org/r/20200724174702.61754-1-hdegoede@redhat.com
    Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>

Fixed merged conflicts and sent out the v4 version of the patch.
Added hdegoede@redhat.com to CC as well.

Thanks,
Badhri

On Wed, Jul 29, 2020 at 11:44 PM Greg Kroah-Hartman
<gregkh@linuxfoundation.org> wrote:
>
> On Wed, Jul 29, 2020 at 07:24:57PM -0700, Badhri Jagan Sridharan wrote:
> > "tReceiverResponse 15 ms Section 6.6.2
> > The receiver of a Message requiring a response Shall respond
> > within tReceiverResponse in order to ensure that the
> > sender’s SenderResponseTimer does not expire."
> >
> > When the cpu complex is busy running other lower priority
> > work items, TCPM's work queue sometimes does not get scheduled
> > on time to meet the above requirement from the spec.
> > Moving to kthread_work apis to run with real time priority.
> > Just lower than the default threaded irq priority,
> > MAX_USER_RT_PRIO/2 + 1. (Higher number implies lower priority).
> >
> > Further, as observed in 1ff688209e2e, moving to hrtimers to
> > overcome scheduling latency while scheduling the delayed work.
> >
> > TCPM has three work streams:
> > 1. tcpm_state_machine
> > 2. vdm_state_machine
> > 3. event_work
> >
> > tcpm_state_machine and vdm_state_machine both schedule work in
> > future i.e. delayed. Hence each of them have a corresponding
> > hrtimer, tcpm_state_machine_timer & vdm_state_machine_timer.
> >
> > When work is queued right away kthread_queue_work is used.
> > Else, the relevant timer is programmed and made to queue
> > the kthread_work upon timer expiry.
> >
> > kthread_create_worker only creates one kthread worker thread,
> > hence single threadedness of workqueue is retained.
> >
> > Signed-off-by: Badhri Jagan Sridharan <badhri@google.com>
> > Reviewed-by: Guenter Roeck <linux@roeck-us.net>
> > Reviewed-by: Heikki Krogerus <heikki.krogerus@linux.intel.com>
> > ---
> > Changes since v1:(Guenter's suggestions)
> > - Remove redundant call to hrtimer_cancel while calling
> >   hrtimer_start.
> >
> > Changes since v2:(Greg KH's suggestions)
> > - Rebase usb-next TOT.
> >   633198cd2945b7 (HEAD -> usb-next-1) usb: typec: tcpm: Migrate workqueue to RT priority for processing events
> >   fa56dd9152ef95 (origin/usb-next) Merge tag 'usb-serial-5.9-rc1' of https://git.kernel.org/pub/scm/linux/kernel/git/johan/usb-serial into usb-next
> >   25252919a1050e xhci: dbgtty: Make some functions static
> >   b0e02550346e67 xhci: dbc: Make function xhci_dbc_ring_alloc() static
> >   ca6377900974c3 Revert "usb: dwc2: override PHY input signals with usb role switch support"
> >   09df709cb5aeb2 Revert "usb: dwc2: don't use ID/Vbus detection if usb-role-switch on STM32MP15 SoCs"
> >   17a82716587e9d USB: iowarrior: fix up report size handling for some devices
> >   e98ba8cc3f8a89 Merge tag 'usb-for-v5.9' of git://git.kernel.org/pub/scm/linux/kernel/git/balbi/usb into usb-next
> >   c97793089b11f7 Merge 5.8-rc7 into usb-next
> >   92ed301919932f (tag: v5.8-rc7, origin/usb-linus, origin/main) Linux 5.8-rc7
> >
>
> Hm, still does not apply.  I think it has something to do with other
> patches that landed before yours, can you rebase again?
>
> thanks,
>
> greg k-h
diff mbox series

Patch

diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index ff1cbd2147ca8a..fa9002944dc766 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -8,8 +8,10 @@ 
 #include <linux/completion.h>
 #include <linux/debugfs.h>
 #include <linux/device.h>
+#include <linux/hrtimer.h>
 #include <linux/jiffies.h>
 #include <linux/kernel.h>
+#include <linux/kthread.h>
 #include <linux/module.h>
 #include <linux/mutex.h>
 #include <linux/power_supply.h>
@@ -28,7 +30,8 @@ 
 #include <linux/usb/role.h>
 #include <linux/usb/tcpm.h>
 #include <linux/usb/typec_altmode.h>
-#include <linux/workqueue.h>
+
+#include <uapi/linux/sched/types.h>
 
 #define FOREACH_STATE(S)			\
 	S(INVALID_STATE),			\
@@ -195,7 +198,7 @@  struct tcpm_port {
 	struct device *dev;
 
 	struct mutex lock;		/* tcpm state machine lock */
-	struct workqueue_struct *wq;
+	struct kthread_worker *wq;
 
 	struct typec_capability typec_caps;
 	struct typec_port *typec_port;
@@ -239,15 +242,17 @@  struct tcpm_port {
 	enum tcpm_state prev_state;
 	enum tcpm_state state;
 	enum tcpm_state delayed_state;
-	unsigned long delayed_runtime;
+	ktime_t delayed_runtime;
 	unsigned long delay_ms;
 
 	spinlock_t pd_event_lock;
 	u32 pd_events;
 
-	struct work_struct event_work;
-	struct delayed_work state_machine;
-	struct delayed_work vdm_state_machine;
+	struct kthread_work event_work;
+	struct hrtimer state_machine_timer;
+	struct kthread_work state_machine;
+	struct hrtimer vdm_state_machine_timer;
+	struct kthread_work vdm_state_machine;
 	bool state_machine_running;
 
 	struct completion tx_complete;
@@ -332,7 +337,7 @@  struct tcpm_port {
 };
 
 struct pd_rx_event {
-	struct work_struct work;
+	struct kthread_work work;
 	struct tcpm_port *port;
 	struct pd_message msg;
 };
@@ -906,6 +911,27 @@  static int tcpm_pd_send_sink_caps(struct tcpm_port *port)
 	return tcpm_pd_transmit(port, TCPC_TX_SOP, &msg);
 }
 
+static void mod_tcpm_delayed_work(struct tcpm_port *port, unsigned int delay_ms)
+{
+	if (delay_ms) {
+		hrtimer_start(&port->state_machine_timer, ms_to_ktime(delay_ms), HRTIMER_MODE_REL);
+	} else {
+		hrtimer_cancel(&port->state_machine_timer);
+		kthread_queue_work(port->wq, &port->state_machine);
+	}
+}
+
+static void mod_vdm_delayed_work(struct tcpm_port *port, unsigned int delay_ms)
+{
+	if (delay_ms) {
+		hrtimer_start(&port->vdm_state_machine_timer, ms_to_ktime(delay_ms),
+			      HRTIMER_MODE_REL);
+	} else {
+		hrtimer_cancel(&port->vdm_state_machine_timer);
+		kthread_queue_work(port->wq, &port->vdm_state_machine);
+	}
+}
+
 static void tcpm_set_state(struct tcpm_port *port, enum tcpm_state state,
 			   unsigned int delay_ms)
 {
@@ -914,9 +940,8 @@  static void tcpm_set_state(struct tcpm_port *port, enum tcpm_state state,
 			 tcpm_states[port->state], tcpm_states[state],
 			 delay_ms);
 		port->delayed_state = state;
-		mod_delayed_work(port->wq, &port->state_machine,
-				 msecs_to_jiffies(delay_ms));
-		port->delayed_runtime = jiffies + msecs_to_jiffies(delay_ms);
+		mod_tcpm_delayed_work(port, delay_ms);
+		port->delayed_runtime = ktime_add(ktime_get(), ms_to_ktime(delay_ms));
 		port->delay_ms = delay_ms;
 	} else {
 		tcpm_log(port, "state change %s -> %s",
@@ -931,7 +956,7 @@  static void tcpm_set_state(struct tcpm_port *port, enum tcpm_state state,
 		 * machine.
 		 */
 		if (!port->state_machine_running)
-			mod_delayed_work(port->wq, &port->state_machine, 0);
+			mod_tcpm_delayed_work(port, 0);
 	}
 }
 
@@ -952,7 +977,7 @@  static void tcpm_queue_message(struct tcpm_port *port,
 			       enum pd_msg_request message)
 {
 	port->queued_message = message;
-	mod_delayed_work(port->wq, &port->state_machine, 0);
+	mod_tcpm_delayed_work(port, 0);
 }
 
 /*
@@ -1238,8 +1263,7 @@  static void tcpm_handle_vdm_request(struct tcpm_port *port,
 			port->vdm_state = VDM_STATE_WAIT_RSP_BUSY;
 			port->vdo_retry = (p0 & ~VDO_CMDT_MASK) |
 				CMDT_INIT;
-			mod_delayed_work(port->wq, &port->vdm_state_machine,
-					 msecs_to_jiffies(PD_T_VDM_BUSY));
+			mod_vdm_delayed_work(port, PD_T_VDM_BUSY);
 			return;
 		}
 		port->vdm_state = VDM_STATE_DONE;
@@ -1250,7 +1274,7 @@  static void tcpm_handle_vdm_request(struct tcpm_port *port,
 
 	if (rlen > 0) {
 		tcpm_queue_vdm(port, response[0], &response[1], rlen - 1);
-		mod_delayed_work(port->wq, &port->vdm_state_machine, 0);
+		mod_vdm_delayed_work(port, 0);
 	}
 }
 
@@ -1267,7 +1291,7 @@  static void tcpm_send_vdm(struct tcpm_port *port, u32 vid, int cmd,
 			1 : (PD_VDO_CMD(cmd) <= CMD_ATTENTION), cmd);
 	tcpm_queue_vdm(port, header, data, count);
 
-	mod_delayed_work(port->wq, &port->vdm_state_machine, 0);
+	mod_vdm_delayed_work(port, 0);
 }
 
 static unsigned int vdm_ready_timeout(u32 vdm_hdr)
@@ -1334,8 +1358,7 @@  static void vdm_run_state_machine(struct tcpm_port *port)
 			port->vdm_retries = 0;
 			port->vdm_state = VDM_STATE_BUSY;
 			timeout = vdm_ready_timeout(port->vdo_data[0]);
-			mod_delayed_work(port->wq, &port->vdm_state_machine,
-					 timeout);
+			mod_vdm_delayed_work(port, timeout);
 		}
 		break;
 	case VDM_STATE_WAIT_RSP_BUSY:
@@ -1364,10 +1387,9 @@  static void vdm_run_state_machine(struct tcpm_port *port)
 	}
 }
 
-static void vdm_state_machine_work(struct work_struct *work)
+static void vdm_state_machine_work(struct kthread_work *work)
 {
-	struct tcpm_port *port = container_of(work, struct tcpm_port,
-					      vdm_state_machine.work);
+	struct tcpm_port *port = container_of(work, struct tcpm_port, vdm_state_machine);
 	enum vdm_states prev_state;
 
 	mutex_lock(&port->lock);
@@ -1515,7 +1537,7 @@  static int tcpm_altmode_enter(struct typec_altmode *altmode, u32 *vdo)
 	header |= VDO_OPOS(altmode->mode);
 
 	tcpm_queue_vdm(port, header, vdo, vdo ? 1 : 0);
-	mod_delayed_work(port->wq, &port->vdm_state_machine, 0);
+	mod_vdm_delayed_work(port, 0);
 	mutex_unlock(&port->lock);
 
 	return 0;
@@ -1531,7 +1553,7 @@  static int tcpm_altmode_exit(struct typec_altmode *altmode)
 	header |= VDO_OPOS(altmode->mode);
 
 	tcpm_queue_vdm(port, header, NULL, 0);
-	mod_delayed_work(port->wq, &port->vdm_state_machine, 0);
+	mod_vdm_delayed_work(port, 0);
 	mutex_unlock(&port->lock);
 
 	return 0;
@@ -1544,7 +1566,7 @@  static int tcpm_altmode_vdm(struct typec_altmode *altmode,
 
 	mutex_lock(&port->lock);
 	tcpm_queue_vdm(port, header, data, count - 1);
-	mod_delayed_work(port->wq, &port->vdm_state_machine, 0);
+	mod_vdm_delayed_work(port, 0);
 	mutex_unlock(&port->lock);
 
 	return 0;
@@ -1961,7 +1983,7 @@  static void tcpm_pd_ext_msg_request(struct tcpm_port *port,
 	}
 }
 
-static void tcpm_pd_rx_handler(struct work_struct *work)
+static void tcpm_pd_rx_handler(struct kthread_work *work)
 {
 	struct pd_rx_event *event = container_of(work,
 						 struct pd_rx_event, work);
@@ -2023,10 +2045,10 @@  void tcpm_pd_receive(struct tcpm_port *port, const struct pd_message *msg)
 	if (!event)
 		return;
 
-	INIT_WORK(&event->work, tcpm_pd_rx_handler);
+	kthread_init_work(&event->work, tcpm_pd_rx_handler);
 	event->port = port;
 	memcpy(&event->msg, msg, sizeof(*msg));
-	queue_work(port->wq, &event->work);
+	kthread_queue_work(port->wq, &event->work);
 }
 EXPORT_SYMBOL_GPL(tcpm_pd_receive);
 
@@ -2079,9 +2101,9 @@  static bool tcpm_send_queued_message(struct tcpm_port *port)
 	} while (port->queued_message != PD_MSG_NONE);
 
 	if (port->delayed_state != INVALID_STATE) {
-		if (time_is_after_jiffies(port->delayed_runtime)) {
-			mod_delayed_work(port->wq, &port->state_machine,
-					 port->delayed_runtime - jiffies);
+		if (ktime_after(port->delayed_runtime, ktime_get())) {
+			mod_tcpm_delayed_work(port, ktime_to_ms(ktime_sub(port->delayed_runtime,
+									  ktime_get())));
 			return true;
 		}
 		port->delayed_state = INVALID_STATE;
@@ -3214,10 +3236,9 @@  static void run_state_machine(struct tcpm_port *port)
 	case SNK_DISCOVERY_DEBOUNCE_DONE:
 		if (!tcpm_port_is_disconnected(port) &&
 		    tcpm_port_is_sink(port) &&
-		    time_is_after_jiffies(port->delayed_runtime)) {
+		    ktime_after(port->delayed_runtime, ktime_get())) {
 			tcpm_set_state(port, SNK_DISCOVERY,
-				       jiffies_to_msecs(port->delayed_runtime -
-							jiffies));
+				       ktime_to_ms(ktime_sub(port->delayed_runtime, ktime_get())));
 			break;
 		}
 		tcpm_set_state(port, unattached_state(port), 0);
@@ -3612,10 +3633,9 @@  static void run_state_machine(struct tcpm_port *port)
 	}
 }
 
-static void tcpm_state_machine_work(struct work_struct *work)
+static void tcpm_state_machine_work(struct kthread_work *work)
 {
-	struct tcpm_port *port = container_of(work, struct tcpm_port,
-					      state_machine.work);
+	struct tcpm_port *port = container_of(work, struct tcpm_port, state_machine);
 	enum tcpm_state prev_state;
 
 	mutex_lock(&port->lock);
@@ -3975,7 +3995,7 @@  static void _tcpm_pd_hard_reset(struct tcpm_port *port)
 		       0);
 }
 
-static void tcpm_pd_event_handler(struct work_struct *work)
+static void tcpm_pd_event_handler(struct kthread_work *work)
 {
 	struct tcpm_port *port = container_of(work, struct tcpm_port,
 					      event_work);
@@ -4016,7 +4036,7 @@  void tcpm_cc_change(struct tcpm_port *port)
 	spin_lock(&port->pd_event_lock);
 	port->pd_events |= TCPM_CC_EVENT;
 	spin_unlock(&port->pd_event_lock);
-	queue_work(port->wq, &port->event_work);
+	kthread_queue_work(port->wq, &port->event_work);
 }
 EXPORT_SYMBOL_GPL(tcpm_cc_change);
 
@@ -4025,7 +4045,7 @@  void tcpm_vbus_change(struct tcpm_port *port)
 	spin_lock(&port->pd_event_lock);
 	port->pd_events |= TCPM_VBUS_EVENT;
 	spin_unlock(&port->pd_event_lock);
-	queue_work(port->wq, &port->event_work);
+	kthread_queue_work(port->wq, &port->event_work);
 }
 EXPORT_SYMBOL_GPL(tcpm_vbus_change);
 
@@ -4034,7 +4054,7 @@  void tcpm_pd_hard_reset(struct tcpm_port *port)
 	spin_lock(&port->pd_event_lock);
 	port->pd_events = TCPM_RESET_EVENT;
 	spin_unlock(&port->pd_event_lock);
-	queue_work(port->wq, &port->event_work);
+	kthread_queue_work(port->wq, &port->event_work);
 }
 EXPORT_SYMBOL_GPL(tcpm_pd_hard_reset);
 
@@ -4742,10 +4762,28 @@  static int devm_tcpm_psy_register(struct tcpm_port *port)
 	return PTR_ERR_OR_ZERO(port->psy);
 }
 
+static enum hrtimer_restart state_machine_timer_handler(struct hrtimer *timer)
+{
+	struct tcpm_port *port = container_of(timer, struct tcpm_port, state_machine_timer);
+
+	kthread_queue_work(port->wq, &port->state_machine);
+	return HRTIMER_NORESTART;
+}
+
+static enum hrtimer_restart vdm_state_machine_timer_handler(struct hrtimer *timer)
+{
+	struct tcpm_port *port = container_of(timer, struct tcpm_port, vdm_state_machine_timer);
+
+	kthread_queue_work(port->wq, &port->vdm_state_machine);
+	return HRTIMER_NORESTART;
+}
+
 struct tcpm_port *tcpm_register_port(struct device *dev, struct tcpc_dev *tcpc)
 {
 	struct tcpm_port *port;
 	int err;
+	/* Priority just lower than default irq thread priority */
+	struct sched_param param = {.sched_priority = (MAX_USER_RT_PRIO / 2) + 1,};
 
 	if (!dev || !tcpc ||
 	    !tcpc->get_vbus || !tcpc->set_cc || !tcpc->get_cc ||
@@ -4763,12 +4801,18 @@  struct tcpm_port *tcpm_register_port(struct device *dev, struct tcpc_dev *tcpc)
 	mutex_init(&port->lock);
 	mutex_init(&port->swap_lock);
 
-	port->wq = create_singlethread_workqueue(dev_name(dev));
-	if (!port->wq)
-		return ERR_PTR(-ENOMEM);
-	INIT_DELAYED_WORK(&port->state_machine, tcpm_state_machine_work);
-	INIT_DELAYED_WORK(&port->vdm_state_machine, vdm_state_machine_work);
-	INIT_WORK(&port->event_work, tcpm_pd_event_handler);
+	port->wq = kthread_create_worker(0, dev_name(dev));
+	if (IS_ERR(port->wq))
+		return (struct tcpm_port *)port->wq;
+	sched_setscheduler(port->wq->task, SCHED_FIFO, &param);
+
+	kthread_init_work(&port->state_machine, tcpm_state_machine_work);
+	kthread_init_work(&port->vdm_state_machine, vdm_state_machine_work);
+	kthread_init_work(&port->event_work, tcpm_pd_event_handler);
+	hrtimer_init(&port->state_machine_timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+	port->state_machine_timer.function = state_machine_timer_handler;
+	hrtimer_init(&port->vdm_state_machine_timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+	port->vdm_state_machine_timer.function = vdm_state_machine_timer_handler;
 
 	spin_lock_init(&port->pd_event_lock);
 
@@ -4820,7 +4864,7 @@  struct tcpm_port *tcpm_register_port(struct device *dev, struct tcpc_dev *tcpc)
 	usb_role_switch_put(port->role_sw);
 out_destroy_wq:
 	tcpm_debugfs_exit(port);
-	destroy_workqueue(port->wq);
+	kthread_destroy_worker(port->wq);
 	return ERR_PTR(err);
 }
 EXPORT_SYMBOL_GPL(tcpm_register_port);
@@ -4835,7 +4879,7 @@  void tcpm_unregister_port(struct tcpm_port *port)
 	typec_unregister_port(port->typec_port);
 	usb_role_switch_put(port->role_sw);
 	tcpm_debugfs_exit(port);
-	destroy_workqueue(port->wq);
+	kthread_destroy_worker(port->wq);
 }
 EXPORT_SYMBOL_GPL(tcpm_unregister_port);