I forgot to mention that on xenomai 3.0.5 linux 4.4.71 with default dts, although warnings appear, the driver works but in xenomai-3 master linux 4.19.82 with default dts got system freeze.
On 1/23/20, Laurentiu-Cristian Duca <[email protected]> wrote: > 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 >
