Hello all,
I guess I found some weired memory bug in Xenomai's (userspace?)
interrupt handling. When I run the attached testprogram (or another
program using userspace interrupt's) it happens that 'cat
/proc/xenomai/irq' delivers the following output:
linux1:/proc# cat xenomai/irq
IRQ CPU0 CPU1
7: 0 9 ?*çd
213: 9 0
216: 1949 1949 [timer]
217: 0 0
226: 28 0 [virtual]
As you can see, for IRQ 7 the output looks somehow confusing.
To run the attached program, you need a LPT loopback-device, simply
connect pin's 9 and 10 of the parallel port. (This is not necessary to
see the problem.)
Another thing I have seen, which may be related to this, happens after
re-running the program. The whole /proc/xenomai directory is empty.
Reloading the xeno modules doesn't help and a reboot is needed to get it
working. I don't know how to reproduce it reliably.
That all happens on my AMD X2 as well as on two Pentium M machines.
Maybe someone can explain this.
Thanks in advance,
Stephan
The testprogram:
-----------------------------------------------------------
#include <iostream>
#include <sys/mman.h>
#include <assert.h>
#include "native/task.h"
#include "native/timer.h"
#include "native/queue.h"
#include "native/intr.h"
#include <sys/io.h>
RT_TASK maintask;
RT_TASK inttask;
RT_TASK intcreatortask;
#define LPT_BASE 0x378
#define LPT_INT 7
bool finish = false;
void int_task(void* cookie){
int err = 0;
int counter = 0;
RT_INTR lptint;
err = rt_intr_create(&lptint,"parp_int",7,0);
std::cout << "interrupt create:" << err << std::endl;
err = rt_intr_enable(&lptint);
std::cout << "interrupt enable:" << err << std::endl;
// switch int mode on
outb_p(0x10, LPT_BASE + 2);
// all pins = 0
outb_p(0x00, LPT_BASE );
while(!finish){
err = rt_intr_wait(&lptint, 100);
if(err >= 0 ){
counter++;
std::cout << "got " << err << " loop: " << counter <<
std::endl;
}
}
err = rt_intr_disable(&lptint);
std::cout << "interrupt disable:" << err << std::endl;
err = rt_intr_delete(&lptint);
std::cout << "interrupt delete:" << err << std::endl;
}
void int_creator_task(void* cookie){
char ob = 0x00;
for(int i = 0; i < 1000; i++){
rt_task_sleep(100);
outb_p(ob,LPT_BASE);
if(ob){
ob = 0x00;
}else{
ob = 0xFF;
}
}
finish = true;
}
int main(void){
int err;
std::cout << "xenomai interrupt test" << std::endl;
mlockall(MCL_CURRENT | MCL_FUTURE);
if (iopl(3)) {
printf("iopl err\n");
exit(1);
}
err = rt_task_shadow (&maintask,"maintask",10,0);
std::cout << "task shadow:" << err << std::endl;
err = rt_timer_set_mode(1000000);
std::cout << "timer set mode:" << err << std::endl;
rt_task_spawn(&inttask,"interrupt-task",1024,50,T_JOINABLE,int_task,NULL);
rt_task_spawn(&intcreatortask,"interrupt-creator-task",1024,50,T_JOINABLE,int_creator_task,NULL);
rt_task_join(&intcreatortask);
rt_task_join(&inttask);
std::cout << "task's finished, exiting" << std::endl;
return 0;
}
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