Hello Jan and friends, The situation is the following for bbb: - 4.14.71 and 4.19.82 xenomai-3 master enabled kernels freeze when trying to use gpio-interrupts; when interrupt comes the gpioout is toggled but the system do not respond anymore to keyboard and nothing more is shown on the screen - note that even if I try a classic (linux only, non-xenomai) gpio interrupt handler in 4.19.82 with xenomai-3 the system freeze when interrupt comes - 4.9.51 and 4.4.71 xenomai 3.0.5 enabled kernels work blinking gpioout and do not block, but both show warnings when interrupt comes which significantly increase interrupt latency.
On 1/28/20, Jan Kiszka <[email protected]> wrote: > On 24.01.20 07:24, Greg Gallagher via Xenomai wrote: >> I sent a patch offline, if you could try it that would be great. I'm >> having issues getting my board set up. >> > > Do we know by now if this is an I-pipe issue or rather something > cobalt-related? > > Jan > >> On Thu, Jan 23, 2020 at 1:13 PM Greg Gallagher <[email protected]> >> wrote: >>> >>> Hi, >>> >>> On Thu, Jan 23, 2020 at 12:15 PM Laurentiu-Cristian Duca >>> <[email protected]> wrote: >>>> >>>> Hi, the interrupt comes one per second in my test, so there is no flood. >>>> In 4.19 the system it blinks the gpioout but it does not respond to >>>> keyboard and does not show anything more on the screen. >>> >>> Okay, there's a couple things that are different between 4.4 and 4.19 >>> that I'm looking into, which is taking me a little long then I >>> thought. I won't have this patch ready till tomorrow morning. I >>> finally have beaglebone black hardware, I'll make sure the kernel >>> boots and then send the patch to you for testing. >>> >>> -Greg >>> >>> >>>> >>>> On Thu, Jan 23, 2020, 19:03 Greg Gallagher <[email protected]> >>>> wrote: >>>>> >>>>> Hi, >>>>> >>>>> On Thu, Jan 23, 2020 at 9:21 AM Laurentiu-Cristian Duca via Xenomai >>>>> <[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. >>>>> Is it possible to use raw_printk and see if the system is still >>>>> working but possibly getting flooded by interrupts? When I >>>>> encountered this issue with the BCM2835 port I placed a raw_printk in >>>>> one of the functions that initially handles the interrupt to see if it >>>>> was being ack'd. >>>>>> >>>>>> >>>>>> 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 >>>>>> >>>>> My above comments would be good to start debugging the issue. Looking >>>>> at the ipipe trees I think we are missing some ipipe things in the >>>>> GPIO driver from 4.4 to 4.19. When I diff the files it looks like >>>>> there are some things missing in 4.19. I can make a patch for you to >>>>> try, I'll have it ready shortly. >>>>> >>>>> -Greg >> > > -- > Siemens AG, Corporate Technology, CT RDA IOT SES-DE > Corporate Competence Center Embedded Linux >
