Hello there Greg, any news?
Thanks On 1/31/20, Greg Gallagher <[email protected]> wrote: > Hey, > > On Wed, Jan 29, 2020 at 11:58 AM Greg Gallagher <[email protected]> > wrote: >> >> Hey, >> >> On Wed, Jan 29, 2020 at 12:07 AM Greg Gallagher <[email protected]> >> wrote: >> > >> > Hi, >> > >> > On Tue, Jan 28, 2020 at 7:37 AM Laurentiu-Cristian Duca >> > <[email protected]> wrote: >> > > >> > > Again, to make things clear: >> > > I have tested two modules: one with RTDM gpio-interrupts and one with >> > > classic linux interrupts. >> > > The one with RTDM gpio-interrupts: >> > > - makes kernel freeze on 4.14.71 and 4.19.82 ipipe-enabled kernels >> > > - works (but with ipipe warnings when interrupt arrives) in 4.4.71 and >> > > 4.9.51 >> > > The one with classic linux interrupts: >> > > - works in PREEMPT_RT linux (tested on 5.4.5 and 4.19.59 PREEMPT_RT >> > > non-ipipe non-xenomai) >> > > - makes kernel freeze when interrupt arrives on 4.14.71 and 4.19.82 >> > > for xenomai ipipe enabled kernels >> > > >> > > On 1/28/20, Laurentiu-Cristian Duca <[email protected]> wrote: >> > > > This does not happen with non-ipipe enabled kernels. >> > > > I have tested a classic gpio-interrupt module on PREEMPT_RT and it >> > > > works, >> > > > but when I tested it on an ipipe-enabled kernel (4.14.71 and >> > > > 4.19.82) >> > > > got kernel freeze. >> > > > >> > > > On 1/28/20, Greg Gallagher <[email protected]> wrote: >> > > >> 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 >> > > >> >> > > > >> > >> > This is definitely an ipipe issue so this should not hold up any new >> > Xenomai release. I was able to get the following back trace with the >> > Ipipe debugging turned on. >> > >> > root@busterarm:/home# [ 75.141504] I-pipe: Detected illicit call >> > from head domain 'Xenomai' >> > [ 75.141504] into a regular Linux service >> > [ 75.152566] CPU: 0 PID: 0 Comm: swapper/0 Tainted: G W O >> > 4.19.82-ga0888f089f79-dirty #8 >> > [ 75.161755] Hardware name: Generic AM33XX (Flattened Device Tree) >> > [ 75.167890] I-pipe domain: Xenomai >> > [ 75.171334] [<c0112c3c>] (unwind_backtrace) from [<c010d204>] >> > (show_stack+0x10/0x14) >> > [ 75.179136] [<c010d204>] (show_stack) from [<c08af6d8>] >> > (dump_stack+0xe8/0x110) >> > [ 75.186502] [<c08af6d8>] (dump_stack) from [<c02111a0>] >> > (ipipe_test_and_stall_root+0x8/0x34) >> > [ 75.195001] [<c02111a0>] (ipipe_test_and_stall_root) from >> > [<c08cb874>] (_raw_spin_lock_irqsave+0x14/0x4c) >> > [ 75.204643] [<c08cb874>] (_raw_spin_lock_irqsave) from [<c0553660>] >> > (gpio_to_desc+0x14/0xd0) >> > [ 75.214200] [<c0553660>] (gpio_to_desc) from [<bf44501c>] >> > (gpio_irq_handler+0x1c/0x48 [rtdm_test]) >> > [ 75.223238] [<bf44501c>] (gpio_irq_handler [rtdm_test]) from >> > [<c0259bd0>] (xnintr_irq_handler+0xfc/0x4f4) >> > [ 75.232872] [<c0259bd0>] (xnintr_irq_handler) from [<c02121d4>] >> > (__ipipe_do_sync_stage+0x134/0x218) >> > [ 75.241980] [<c02121d4>] (__ipipe_do_sync_stage) from [<c02123ac>] >> > (__ipipe_do_sync_pipeline+0x88/0xf8) >> > [ 75.251437] [<c02123ac>] (__ipipe_do_sync_pipeline) from >> > [<c01179c0>] (__ipipe_grab_irq+0x4c/0xac) >> > [ 75.260455] [<c01179c0>] (__ipipe_grab_irq) from [<c0101b2c>] >> > (__irq_svc+0x6c/0x78) >> > [ 75.268161] Exception stack(0xc0d01e38 to 0xc0d01e80) >> > [ 75.273252] 1e20: >> > 0000040c 00000000 >> > [ 75.281488] 1e40: 00000001 c15127c0 df94ccdc c14ff280 00000001 >> > c14ff280 0000040d 00000001 >> > [ 75.289723] 1e60: 00000020 0000000c df94ccec c0d01e88 df94cce4 >> > c02121c0 600b0113 ffffffff >> > [ 75.297958] [<c0101b2c>] (__irq_svc) from [<c02121c0>] >> > (__ipipe_do_sync_stage+0x120/0x218) >> > [ 75.306281] [<c02121c0>] (__ipipe_do_sync_stage) from [<c02122f4>] >> > (ipipe_unstall_root+0x3c/0x48) >> > [ 75.315215] [<c02122f4>] (ipipe_unstall_root) from [<c08cb98c>] >> > (_raw_spin_unlock_irqrestore+0x34/0x40) >> > [ 75.324672] [<c08cb98c>] (_raw_spin_unlock_irqrestore) from >> > [<c055a314>] (omap_gpio_irq_handler+0x100/0x138) >> > [ 75.334564] [<c055a314>] (omap_gpio_irq_handler) from [<c0212a9c>] >> > (__ipipe_dispatch_irq+0xe0/0x21c) >> > [ 75.343757] [<c0212a9c>] (__ipipe_dispatch_irq) from [<c01179c0>] >> > (__ipipe_grab_irq+0x4c/0xac) >> > [ 75.352427] [<c01179c0>] (__ipipe_grab_irq) from [<c0101b2c>] >> > (__irq_svc+0x6c/0x78) >> > [ 75.360132] Exception stack(0xc0d01f28 to 0xc0d01f70) >> > [ 75.365226] 1f20: 1eccd000 00000001 df94ccdc >> > 00000000 c0c7fcdc c0d089b4 >> > [ 75.373462] 1f40: 00000001 c0d089fc c0dc8155 c0abf870 c0c5ea4c >> > c0d08980 00000000 c0d01f78 >> > [ 75.381693] 1f60: c02122c8 c02122ec 600b0013 ffffffff >> > [ 75.386788] [<c0101b2c>] (__irq_svc) from [<c02122ec>] >> > (ipipe_unstall_root+0x34/0x48) >> > [ 75.394677] [<c02122ec>] (ipipe_unstall_root) from [<c017009c>] >> > (do_idle+0xd8/0x1d4) >> > [ 75.402475] [<c017009c>] (do_idle) from [<c0170414>] >> > (cpu_startup_entry+0x18/0x1c) >> > [ 75.410102] [<c0170414>] (cpu_startup_entry) from [<c0c00da0>] >> > (start_kernel+0x3f8/0x4a8) >> > [ 75.418341] GPIO interrupt >> > >> > Looks like we are returning from the ipipe domain into the Linux >> > domain. This is probably causing the system to lock up. I'll >> > hopefully finish this up this week unless someone else sees the >> > problem. >> > >> > Thanks >> > >> > Greg >> >> I think I have this solved, patch up tonight or tomorrow depending on >> testing. >> >> -Greg > > This issue ends up being two issues. The first is the stack trace > above. It's being caused by calling a Linux call while in the head > domain. This scenario is described in the ipipe documentation, where > the head domain tries to return into the root domain. To fix this > don't use gpio_set_value in the interrupt handler to set the gpio > value use gpiod_set_raw_value instead. The xenomai gpio driver > (gpio-core.c) can be used as a guide when using the Linux gpiolib in > the RTDM context. I'm not sure if the trace_printk is safe to have > there as well, but I'm assuming that's just there for debug purposes. > The second issue is trickier to debug and is what is causing the lock > up. From my test runs with limit debugging tools, since printascii > isn't working great on beaglebone for some reason, it looks like the > gpio interrupt is flooding the system and causing it to be > unresponsive. This is probably to do with not holding the irq or > possibly there's an issue when the driver is suppose to ack it. > Anyway, I'll dig into that now and hopefully wrap that up this > weekend. If anyone has gotten printascii to work with beaglebone and > could post there config to get it working that would be greatly > appreciated. > > -Greg >
