Hi Josh,
On Mon., Jul. 13, 2020, 6:37 p.m. Josh Karch via Xenomai < [email protected]> wrote: > Hi, > > With the CAN bus issues resolved, I now have a situation where the > xeno-gpio-xilinx driver (gpio-core.c) causes a complete system lockup when > IRQs are enabled and a GPIO toggle triggers the IRQ event. > > Here's what I know: I instrumented the NRT driver to see how deeply > entrenched and intertwined the real-time and non real-time drivers are: > > (1) xeno-gpio-xilinx calls gpio-core which piggybacks upon the Xilinx > "gpio-xilinx" driver. > (2)It uses the OF scan information to create /dev/rtdm/gpio@address/gpioxxx > driver pins. > > When enabling interrupts: > (1)It uses the NRT "Xgpio-request" function to request a gpio pin and set > the pin to an input, though for some reason it calls the set gpio as input > function twice > (2) It then calls xgpio-toirq twice for some reason > (3) It sets the IRQ type. Only the rising edge IRQ is supported with the > Xilinx Driver > (4) It uses the unmask function in the non RT driver to unmask the IRQ > (5) It then sets the gpio as input again. I think this is a side effect of > calling the IOCTL to enable IRQ and then to block file descriptors on > interrupt. > (6) Once the interrupt is triggered, on occasion the Non realtime > xgpio_irqhandler gets called rather than the gpio_pin_interrupt function. > This makes me think the NRT driver is not properly setting the interrupt up > to work with the Xenomai handler. Once the non realtime xgpio_irqhandler > gets called the code gets stuck in an infinite loop and crashes. > > Sometimes the system freezes before using the handler, other times it runs > the handler but it's not possible to break. > > The following is a transcript of a time when the nrt handler is not > called. Otherwise you'd see a message when IRQ is triggered that the > system continually is in a nrt IRQ handler loop. > > So the question is: why is the non-rt handler being called and not the > gpio-core rt_gpio "gpio-pin-interrupt"? > > > [ 303.900487] requesting GPIO > [ 303.903419] setting gpio 0 as input > [ 303.907004] setting gpio 0 as input > [ 303.910549] called xgpio to irq > [ 303.913768] called xgpio to irq > [ 303.916913] setting irq type 1 > [ 303.919990] unmasking IRQ > [ 303.922600] setting gpio 0 as input > [ 324.917162] rcu: INFO: rcu_sched detected stalls on CPUs/tasks: > [ 324.923100] rcu: 0-...0: (1 ticks this GP) > idle=66e/1/0x4000000000000000 > softirq=8388/8389 fqs=2247 > [ 324.932321] rcu: (detected by 3, t=5252 jiffies, g=12713, q=188) > [ 324.938411] Task dump for CPU 0: > [ 324.941629] xeno_gpio_teste R running task 0 433 388 > 0x00000202 > [ 324.948682] Call trace: > [ 324.951126] __switch_to+0x94/0xf0 > [ 324.954522] 0xffffff8008dea658 > > Best, > > Josh Karch > Do you have have the gic and the IRQ handlers in place for the xilinx-gpio xenomai driver? The current implementation doesn't support interrupts. Thanks Greg >
