Re: system freeze - beaglebone black xenomai - gpio interrupts driver

Tue, 28 Jan 2020 04:11:53 -0800 

I forgot to say that I've tested 4.14.71 with xenomai 3.0.9

On 1/28/20, Laurentiu-Cristian Duca <[email protected]> wrote:
> 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
>>
>

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