Hello xenomai community,
I have successfully tested in xenomai SPI with interrupts on bbb.
However, on bbb, if I try to test a basic gpio interrupts driver,
problems appear.
Please see details below. I appreciate any idea.
1. xenomai-3 master linux 4.19.82, default dts
# insmod xeno_osc-gpio-rtdm.ko
[ 105.582245] IRQ number 62 !
[ 105.585976] after request irq = 62
System freeze when first interrupt occurs and I must power off.
2. xenomai 3.0.5 linux 4.4.71, default dts
# insmod xeno_osc-gpio-rtdm.ko
[ 39.901907] IRQ number 142 !
[ 39.905447] after request irq = 142
When first interrupt occurs:
[ 322.104560] irq 142, desc: df15e500, depth: 1, count: 0, unhandled: 0
[ 322.111310] ->handle_irq(): c00998b4, handle_edge_irq+0x0/0x168
[ 322.117606] ->irq_data.chip(): df156710, 0xdf156710
[ 322.122702] ->action(): (null)
[ 322.126067] IRQ_NOPROBE set
[ 322.129252] unexpected IRQ trap at vector 8e
[ 322.133706] ------------[ cut here ]------------
[ 322.138530] WARNING: CPU: 0 PID: 0 at kernel/irq/chip.c:843
__ipipe_ack_bad_irq+0x24/0x3c()
[ 322.147244] Modules linked in: xeno_osc_gpio_rtdm(O)
[ 322.152444] CPU: 0 PID: 0 Comm: swapper/0 Tainted: G O
4.4.71-ipipe #1
[ 322.160434] Hardware name: Generic AM33XX (Flattened Device Tree)
[ 322.166791] I-pipe domain: Linux
[ 322.170175] [<c0017bf4>] (unwind_backtrace) from [<c0013d58>]
(show_stack+0x10/0x14)
[ 322.178273] [<c0013d58>] (show_stack) from [<c0368a0c>]
(dump_stack+0x9c/0xc4)
[ 322.185829] [<c0368a0c>] (dump_stack) from [<c003d168>]
(warn_slowpath_common+0x78/0xb4)
[ 322.194280] [<c003d168>] (warn_slowpath_common) from [<c003d240>]
(warn_slowpath_null+0x1c/0x24)
[ 322.203455] [<c003d240>] (warn_slowpath_null) from [<c00991a8>]
(__ipipe_ack_bad_irq+0x24/0x3c)
[ 322.212542] [<c00991a8>] (__ipipe_ack_bad_irq) from [<c00df9b4>]
(__ipipe_dispatch_irq+0x78/0x1d8)
[ 322.221903] [<c00df9b4>] (__ipipe_dispatch_irq) from [<c03a3948>]
(omap_gpio_irq_handler+0x134/0x1a4)
[ 322.231532] [<c03a3948>] (omap_gpio_irq_handler) from [<c0095b1c>]
(handle_irq_event_percpu+0xa4/0x304)
[ 322.241341] [<c0095b1c>] (handle_irq_event_percpu) from
[<c0095db4>] (handle_irq_event+0x38/0x5c)
[ 322.250605] [<c0095db4>] (handle_irq_event) from [<c0099858>]
(handle_level_irq+0x88/0xe4)
[ 322.259235] [<c0099858>] (handle_level_irq) from [<c0095198>]
(generic_handle_irq+0x20/0x34)
[ 322.268045] [<c0095198>] (generic_handle_irq) from [<c009547c>]
(__handle_domain_irq+0x64/0xd4)
[ 322.277127] [<c009547c>] (__handle_domain_irq) from [<c00df228>]
(__ipipe_do_sync_stage+0x21c/0x25c)
[ 322.286665] [<c00df228>] (__ipipe_do_sync_stage) from [<c00093e4>]
(__ipipe_grab_irq+0x5c/0x7c)
[ 322.295753] [<c00093e4>] (__ipipe_grab_irq) from [<c06462f4>]
(__irq_svc+0x54/0x60)
[ 322.303745] Exception stack(0xc0937f58 to 0xc0937fa0)
[ 322.309017] 7f40:
00000000 df91d240
[ 322.317556] 7f60: 00000000 00000000 c092e240 c0938a24 00000000
c09f4c3c c09389c4 00000001
[ 322.326095] 7f80: c064d88c 00000000 00000000 c0937fa8 c0080f04
c00df35c 60000013 ffffffff
[ 322.334634] [<c06462f4>] (__irq_svc) from [<c00df35c>]
(ipipe_unstall_root+0x38/0x50)
[ 322.342822] [<c00df35c>] (ipipe_unstall_root) from [<c0080f04>]
(cpu_startup_entry+0x68/0x2b8)
[ 322.351826] [<c0080f04>] (cpu_startup_entry) from [<c08b0c28>]
(start_kernel+0x370/0x3e8)
[ 322.360361] ---[ end trace 3de49b4cee31ba0b ]---
When other interrupts occur:
[ 322.365188] irq 142, desc: df15e500, depth: 1, count: 0, unhandled: 0
[ 322.371908] ->handle_irq(): c00998b4, handle_edge_irq+0x0/0x168
[ 322.378183] ->irq_data.chip(): df156710, 0xdf156710
[ 322.383277] ->action(): (null)
[ 322.386641] IRQ_NOPROBE set
[ 322.389825] unexpected IRQ trap at vector 8e
[ 324.664939] irq 142, desc: df15e500, depth: 1, count: 0, unhandled: 0
[ 324.671684] ->handle_irq(): c00998b4, handle_edge_irq+0x0/0x168
[ 324.677980] ->irq_data.chip(): df156710, 0xdf156710
[ 324.683077] ->action(): (null)
[ 324.686442] IRQ_NOPROBE set
...
3. Source code of the basic gpio interrupt driver:
#include <linux/fs.h>
#include <linux/gpio.h>
#include <linux/interrupt.h>
#include <linux/module.h>
#include <rtdm/driver.h>
static unsigned int irq_num;
// bbb gpios that work on PREEMPT_RT linux 4.19.59 and 5.4.5 with default dts
static unsigned int gpio_out = 48;
static unsigned int gpio_in = 115;
static bool value = false;
static rtdm_irq_t irq_handle;
static int num_of_intr = 0;
static int gpio_irq_handler(rtdm_irq_t * irq)
{
value = !value;
gpio_set_value(gpio_out, value); // toggle the led everytime irq
handler is invoked
trace_printk("GPIO interrupt \n");
num_of_intr++;
return RTDM_IRQ_HANDLED;
}
static int __init rtdm_init (void)
{
int err;
if ((err = gpio_request(gpio_in, THIS_MODULE->name)) != 0) {
printk(" gpio_request gpio_in failed ! \n");
return err;
}
if ((err = gpio_direction_input(gpio_in)) != 0) {
printk(" gpio_direction_input gpio_in failed ! \n");
gpio_free(gpio_in);
return err;
}
irq_num = gpio_to_irq(gpio_in);
printk(" IRQ number %d ! \n",irq_num);
if ((err = gpio_request(gpio_out, THIS_MODULE->name)) != 0) {
printk(" gpio_request gpio_out failed ! \n");
gpio_free(gpio_in);
return err;
}
if ((err = gpio_direction_output(gpio_out, 0)) != 0) {
printk(" gpio_direction_input gpio_out failed ! \n");
gpio_free(gpio_out);
gpio_free(gpio_in);
return err;
}
err = irq_set_irq_type(irq_num, IRQF_TRIGGER_RISING);
if(err) {
gpio_free(gpio_out);
gpio_free(gpio_in);
printk(" irq_set_irq_type failed ! \n");
return err;
}
err =
rtdm_irq_request(&irq_handle,irq_num,(rtdm_irq_handler_t)gpio_irq_handler,
RTDM_IRQTYPE_EDGE,THIS_MODULE->name, NULL);
printk("after request irq = %d \n",irq_handle.irq);
if(err) {
gpio_free(gpio_out);
gpio_free(gpio_in);
printk(" rtdm_irq_request failed ! \n");
return err;
}
err = rtdm_irq_enable(&irq_handle);
if (err < 0) {
printk("rtdm_irq_enable failed \n");
return err;
}
return 0;
}
static void __exit rtdm_exit (void)
{
rtdm_irq_free(&irq_handle);
gpio_free(gpio_out);
gpio_free(gpio_in);
printk("The number of intr is %d \n",num_of_intr);
}
module_init(rtdm_init);
module_exit(rtdm_exit);
MODULE_LICENSE("GPL");
Thank you,
L-C Duca
