On Tue, Jan 28, 2020 at 7:11 AM Laurentiu-Cristian Duca < [email protected]> wrote:
> 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) This happens even with non-ipipe enables kernels? > > 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 > >> > > > I think this is an ipipe issue, I am able to reproduce but I’ll need a little more time to confirm my findings, printascii is not working for me on this SOC. Greg
