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xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx.git
The following commit(s) were added to refs/heads/master by this push:
new 572daf46c2 irq: add isr thread
572daf46c2 is described below
commit 572daf46c24f9e7da39c359796a1c0ac1f2d5950
Author: hujun5 <[email protected]>
AuthorDate: Fri May 17 10:43:11 2024 +0800
irq: add isr thread
purpose:
To improve the real-time performance of the system, we prefer to perform
as few operations as possible within the interrupt function.
We have designed an interrupt thread for each interrupt,
where all the operations that are not necessary to be handled
in the interrupt function are delegated to be processed by the interrupt
thread.
Up_enable_irq will be invoked after isrthread started.
Configuring NuttX and compile:
$ ./tools/configure.sh -l qemu-armv8a:nsh_smp
$ make
Running with qemu
$ qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic \
-machine virt,virtualization=on,gic-version=3 \
-net none -chardev stdio,id=con,mux=on -serial chardev:con \
-mon chardev=con,mode=readline -kernel ./nuttx
Signed-off-by: hujun5 <[email protected]>
---
include/nuttx/irq.h | 34 +++++++
sched/irq/CMakeLists.txt | 3 +-
sched/irq/Make.defs | 1 +
sched/irq/irq.h | 7 ++
sched/irq/irq_attach.c | 15 +--
sched/irq/irq_attach_thread.c | 208 ++++++++++++++++++++++++++++++++++++++++++
sched/irq/irq_chain.c | 15 +--
7 files changed, 258 insertions(+), 25 deletions(-)
diff --git a/include/nuttx/irq.h b/include/nuttx/irq.h
index 0fa8867629..3866f3e49f 100644
--- a/include/nuttx/irq.h
+++ b/include/nuttx/irq.h
@@ -82,6 +82,14 @@
while (0)
#endif
+/* Interrupt was handled by this device */
+
+#define IRQ_HANDLED 0
+
+/* Handler requests to wake the handler thread */
+
+#define IRQ_WAKE_THREAD 1
+
/****************************************************************************
* Public Types
****************************************************************************/
@@ -160,6 +168,32 @@ extern "C"
int irq_attach(int irq, xcpt_t isr, FAR void *arg);
+/****************************************************************************
+ * Name: irq_attach_thread
+ *
+ * Description:
+ * Configure the IRQ subsystem so that IRQ number 'irq' is dispatched to
+ * 'isrthread'
+ *
+ * Input Parameters:
+ * irq - Irq num
+ * isr - Function to be called when the IRQ occurs, called in interrupt
+ * context.
+ * If isr is NULL the default handler is installed(irq_default_handler).
+ * isrthread - called in thread context, If the isrthread is NULL,
+ * then the ISR is being detached.
+ * arg - privdate data
+ * priority - Priority of the new task
+ * stack_size - size (in bytes) of the stack needed
+ *
+ * Returned Value:
+ * Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int irq_attach_thread(int irq, xcpt_t isr, xcpt_t isrthread, FAR void *arg,
+ int priority, int stack_size);
+
#ifdef CONFIG_IRQCHAIN
int irqchain_detach(int irq, xcpt_t isr, FAR void *arg);
#else
diff --git a/sched/irq/CMakeLists.txt b/sched/irq/CMakeLists.txt
index b569005c34..6f3e23883b 100644
--- a/sched/irq/CMakeLists.txt
+++ b/sched/irq/CMakeLists.txt
@@ -18,7 +18,8 @@
#
#
##############################################################################
-set(SRCS irq_initialize.c irq_attach.c irq_dispatch.c irq_unexpectedisr.c)
+set(SRCS irq_initialize.c irq_attach.c irq_attach_thread.c irq_dispatch.c
+ irq_unexpectedisr.c)
if(CONFIG_SPINLOCK)
list(APPEND SRCS irq_spinlock.c)
diff --git a/sched/irq/Make.defs b/sched/irq/Make.defs
index 926fe4caf8..cc8eafee82 100644
--- a/sched/irq/Make.defs
+++ b/sched/irq/Make.defs
@@ -19,6 +19,7 @@
############################################################################
CSRCS += irq_initialize.c irq_attach.c irq_dispatch.c irq_unexpectedisr.c
+CSRCS += irq_attach_thread.c
ifeq ($(CONFIG_SPINLOCK),y)
CSRCS += irq_spinlock.c
diff --git a/sched/irq/irq.h b/sched/irq/irq.h
index b1be90ea85..1bf1146ac9 100644
--- a/sched/irq/irq.h
+++ b/sched/irq/irq.h
@@ -44,6 +44,13 @@
# error CONFIG_ARCH_NUSER_INTERRUPTS is not defined
#endif
+#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
+# define IRQ_TO_NDX(irq) \
+ (g_irqmap[(irq)] < CONFIG_ARCH_NUSER_INTERRUPTS ? g_irqmap[(irq)] : -EINVAL)
+#else
+# define IRQ_TO_NDX(irq) (irq)
+#endif
+
/****************************************************************************
* Public Types
****************************************************************************/
diff --git a/sched/irq/irq_attach.c b/sched/irq/irq_attach.c
index 08f19fb222..4ecbb14dd6 100644
--- a/sched/irq/irq_attach.c
+++ b/sched/irq/irq_attach.c
@@ -50,22 +50,13 @@ int irq_attach(int irq, xcpt_t isr, FAR void *arg)
if ((unsigned)irq < NR_IRQS)
{
+ int ndx = IRQ_TO_NDX(irq);
irqstate_t flags;
- int ndx;
-#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
- /* Is there a mapping for this IRQ number? */
-
- ndx = g_irqmap[irq];
- if ((unsigned)ndx >= CONFIG_ARCH_NUSER_INTERRUPTS)
+ if (ndx < 0)
{
- /* No.. then return failure. */
-
- return ret;
+ return ndx;
}
-#else
- ndx = irq;
-#endif
/* If the new ISR is NULL, then the ISR is being detached.
* In this case, disable the ISR and direct any interrupts
diff --git a/sched/irq/irq_attach_thread.c b/sched/irq/irq_attach_thread.c
new file mode 100644
index 0000000000..7973e68ed5
--- /dev/null
+++ b/sched/irq/irq_attach_thread.c
@@ -0,0 +1,208 @@
+/****************************************************************************
+ * sched/irq/irq_attach_thread.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <stdio.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <nuttx/kthread.h>
+
+#include "irq/irq.h"
+#include "sched/sched.h"
+
+/****************************************************************************
+ * Privte Types
+ ****************************************************************************/
+
+/* This is the type of the list of interrupt handlers, one for each IRQ.
+ * This type provided all of the information necessary to irq_dispatch to
+ * transfer control to interrupt handlers after the occurrence of an
+ * interrupt.
+ */
+
+struct irq_thread_info_s
+{
+ xcpt_t handler; /* Address of the interrupt handler */
+ FAR void *arg; /* The argument provided to the interrupt handler. */
+ FAR sem_t *sem; /* irq sem used to notify irq thread */
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static pid_t g_irq_thread_pid[NR_IRQS];
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/* Default interrupt handler for threaded interrupts.
+ * Useful for oneshot interrupts.
+ */
+
+static int irq_default_handler(int irq, FAR void *regs, FAR void *arg)
+{
+ FAR struct irq_thread_info_s *info = arg;
+ int ret = IRQ_WAKE_THREAD;
+
+ DEBUGASSERT(info->handler != NULL);
+ ret = info->handler(irq, regs, info->arg);
+
+ if (ret == IRQ_WAKE_THREAD)
+ {
+ nxsem_post(info->sem);
+ ret = OK;
+ }
+
+ return ret;
+}
+
+static int isr_thread_main(int argc, FAR char *argv[])
+{
+ int irq = atoi(argv[1]);
+ xcpt_t isr = (xcpt_t)((uintptr_t)strtoul(argv[2], NULL, 16));
+ xcpt_t isrthread = (xcpt_t)((uintptr_t)strtoul(argv[3], NULL, 16));
+ FAR void *arg = (FAR void *)((uintptr_t)strtoul(argv[4], NULL, 16));
+ struct irq_thread_info_s info;
+ sem_t sem;
+
+ info.sem = &sem;
+ info.arg = arg;
+ info.handler = isr;
+
+ nxsem_init(&sem, 0, 0);
+
+ irq_attach(irq, irq_default_handler, &info);
+
+#if !defined(CONFIG_ARCH_NOINTC)
+ up_enable_irq(irq);
+#endif
+
+ for (; ; )
+ {
+ if (nxsem_wait_uninterruptible(&sem) < 0)
+ {
+ continue;
+ }
+
+ isrthread(irq, NULL, arg);
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: irq_attach_thread
+ *
+ * Description:
+ * Configure the IRQ subsystem so that IRQ number 'irq' is dispatched to
+ * 'isrthread' and up_enable_irq will be invoked after isrthread started.
+ *
+ * Input Parameters:
+ * irq - Irq num
+ * isr - Function to be called when the IRQ occurs, called in interrupt
+ * context.
+ * If isr is NULL the default handler is installed(irq_default_handler).
+ * isrthread - called in thread context, If the isrthread is NULL,
+ * then the ISR is being detached.
+ * arg - privdate data
+ * priority - Priority of the new task
+ * stack_size - size (in bytes) of the stack needed
+ *
+ * Returned Value:
+ * Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int irq_attach_thread(int irq, xcpt_t isr, xcpt_t isrthread, FAR void *arg,
+ int priority, int stack_size)
+{
+#if NR_IRQS > 0
+ FAR char *argv[5];
+ char arg1[32]; /* irq */
+ char arg2[32]; /* isr */
+ char arg3[32]; /* isrthread */
+ char arg4[32]; /* arg */
+ pid_t pid;
+ int ndx;
+
+ if ((unsigned)irq >= NR_IRQS)
+ {
+ return -EINVAL;
+ }
+
+ ndx = IRQ_TO_NDX(irq);
+ if (ndx < 0)
+ {
+ return ndx;
+ }
+
+ /* If the isrthread is NULL, then the ISR is being detached. */
+
+ if (isrthread == NULL)
+ {
+ irq_attach(irq, NULL, arg);
+ DEBUGASSERT(g_irq_thread_pid[ndx] != 0);
+ kthread_delete(g_irq_thread_pid[ndx]);
+ g_irq_thread_pid[ndx] = 0;
+
+ return OK;
+ }
+
+ if (g_irq_thread_pid[ndx] != 0)
+ {
+ return -EINVAL;
+ }
+
+ snprintf(arg1, sizeof(arg1), "%d", irq);
+ snprintf(arg2, sizeof(arg2), "%p", isr);
+ snprintf(arg3, sizeof(arg3), "%p", isrthread);
+ snprintf(arg4, sizeof(arg4), "%p", arg);
+ argv[0] = arg1;
+ argv[1] = arg2;
+ argv[2] = arg3;
+ argv[3] = arg4;
+ argv[4] = NULL;
+
+ pid = kthread_create("isr_thread", priority, stack_size,
+ isr_thread_main, argv);
+ if (pid < 0)
+ {
+ return pid;
+ }
+
+ g_irq_thread_pid[ndx] = pid;
+
+#endif /* NR_IRQS */
+
+ return OK;
+}
diff --git a/sched/irq/irq_chain.c b/sched/irq/irq_chain.c
index f5bd0736c9..648ee83947 100644
--- a/sched/irq/irq_chain.c
+++ b/sched/irq/irq_chain.c
@@ -201,22 +201,13 @@ int irqchain_detach(int irq, xcpt_t isr, FAR void *arg)
if ((unsigned)irq < NR_IRQS)
{
+ int ndx = IRQ_TO_NDX(irq);
irqstate_t flags;
- int ndx;
-#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
- /* Is there a mapping for this IRQ number? */
-
- ndx = g_irqmap[irq];
- if ((unsigned)ndx >= CONFIG_ARCH_NUSER_INTERRUPTS)
+ if (ndx < 0)
{
- /* No.. then return failure. */
-
- return ret;
+ return ndx;
}
-#else
- ndx = irq;
-#endif
flags = spin_lock_irqsave(NULL);
