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Im writing a recource manager to communicate with a motor control. I need to
detect when IRQ5 fires to read in data from the board.
I have two problems:
1) I only read 0 from the register i want (occasionaly 0x100) when i read it
not waiting for the interrupt that signals that data is ready, i can write
to the register fine, but cant read anything sensible. I know i can write
because when i write the robot moves accordingly.

2)i set up an interrupt handler to monitor IRQ5 but the interrupt handler
never does anything just waits in the InterruptWait(NULL,NULL); part. the
hardware is starts at 0x320.

This is a ported driver from linux, interrupts work fine in linux, not
here:( ive tried everything for 2 days and nothing:( anyone have any ideas?

here is my code:
--------------

#define WALKER_NR_PORTS 16

#define IOBASE 0x320

#define DMKPC (IOBASE+0x00)

#define DPCMK1 (IOBASE+0x00)

#define DATA_IGNORE 0xFFFF



main (int argc, char **argv)

{

resmgr_attr_t resmgr_attr;

dispatch_t *dpp;

dispatch_context_t *ctp;

int id;



/*Initialize dispatch interface*/

if((dpp = dispatch_create()) == NULL)

{

fprintf(stderr, "%s: Unable to allocate dispatch
handle.\n", argv[0]);

return EXIT_FAILURE;

}



/*Initialize recource manager attributes*/

memset(&resmgr_attr, 0, sizeof resmgr_attr);

resmgr_attr.nparts_max = 1;

resmgr_attr.msg_max_size = 2048;



/*Initialize function for handling messages*/

iofunc_func_init(_RESMGR_CONNECT_NFUNCS, &connect_funcs,
_RESMGR_IO_NFUNCS, &io_funcs);

io_funcs.read = io_read;

io_funcs.devctl = io_devctl; /* For handling _IO_DEVCTL, sent
by devctl() */



/*initialize attribute structure used by the device*/

iofunc_attr_init(&attr, S_IFNAM | 0666, 0, 0);

attr.nbytes = strlen(buffer) +1;



/*attach the device name*/

if((id = resmgr_attach(dpp, &resmgr_attr, DEVNAME, _FTYPE_ANY,
0, &connect_funcs, &io_funcs, &attr)) == -1)

{

fprintf(stderr, "%s: Unable to attach name. \n",
argv[0]);

return EXIT_FAILURE;

}



/*allocate a context structure*/

ctp = dispatch_context_alloc(dpp);



/*setup Hardware I/O, need to do only once*/

ThreadCtl(_NTO_TCTL_IO, NULL);

iobase = mmap_device_io(WALKER_NR_PORTS, IOBASE);



/*Start up a thread that is dedicated to interrupt processing*/

pthread_create(NULL, NULL, int_thread, NULL);



/*Start the recource manager loop*/

while(1)

{

if((ctp = dispatch_block(ctp)) == NULL)

{

fprintf(stderr, "block error\n");

return EXIT_FAILURE;

}

dispatch_handler(ctp);

}



}





void *int_thread(void *arg)

/*This thread is dedicated to handling and managing interrupts*/

{

printf("In interrupt thread: Attaching the interrupt\n");



/*Enable I/O privilege*/

ThreadCtl(_NTO_TCTL_IO, NULL);



/*Attach the ISR to IRQ*/

InterruptAttach(5, isr_handler, NULL, 0, 0);



/*Now service the hardware when the ISR says to*/

while(1)

{

InterruptWait(NULL, NULL);



}



}





const struct sigevent * isr_handler(void *arg, int id)

/*This is the ISR*/

{

/*PROBLEM: NEVER ENTERS THIS FUNCTION*/



/*Look at the hardware to see if it caused the interrupt, if not
return NULL*/

if(!(in16(SMKPC) & 0x000e))

{

return SIGEV_NONE;

}



/*This is done when the robot sends an interrupt that its ready
to recieve data*/

if(flag == 1)

{

dmkpc = in16(DMKPC);

flag--;

}



/*aknowlege we processed the interrupt*/

out16(DATA_IGNORE, IRQACK);



/*Return a pointer to an event structure (preinitialized by
main) that

* contains SIGEV_INTR as its notification type. This causes the
InterruptWait

* in "int_thread" to unblock.*/

return (struct sigevent *)1;



}



----------

Thanks!

That looks very strange: return (struct sigevent *)1;
YXou have to retun a real interrupt event.
--Armin

/*This is the ISR*/

{

/*PROBLEM: NEVER ENTERS THIS FUNCTION*/



/*Look at the hardware to see if it caused the interrupt, if
not return NULL*/

if(!(in16(SMKPC) & 0x000e))

{

return SIGEV_NONE;

}



/*This is done when the robot sends an interrupt that its
ready to recieve data*/

if(flag == 1)

{

dmkpc = in16(DMKPC);

flag--;

}



/*aknowlege we processed the interrupt*/

out16(DATA_IGNORE, IRQACK);



/*Return a pointer to an event structure (preinitialized by
main) that

* contains SIGEV_INTR as its notification type. This causes
the InterruptWait

* in "int_thread" to unblock.*/

return arg;



}

That looks very strange: return (struct sigevent *)1;
YXou have to retun a real interrupt event.
--Armin


The only other thingit could be is: return arg;
as event isnt global, or should it be?
Im using the example given in "Writing an Interrupt handler"
they have return &event; which is supposedly declared in main... but how do
you declare it?
i dont understand this:
// return a pointer to an event structure (preinitialized
// by main) that contains SIGEV_INTR as its notification type.
// This causes the InterruptWait in "int_thread" to unblock.

const struct sigevent * isr_handler(void *arg, int id)

/*This is the ISR*/

{

/*PROBLEM: NEVER ENTERS THIS FUNCTION*/



/*Look at the hardware to see if it caused the interrupt, if
not return NULL*/

if(!(in16(SMKPC) & 0x000e))

{

return SIGEV_NONE;

}



/*This is done when the robot sends an interrupt that its
ready to recieve data*/

if(flag == 1)

{

dmkpc = in16(DMKPC);

flag--;

}



/*aknowlege we processed the interrupt*/

out16(DATA_IGNORE, IRQACK);



/*Return a pointer to an event structure (preinitialized by
main) that

* contains SIGEV_INTR as its notification type. This causes
the InterruptWait

* in "int_thread" to unblock.*/

return arg;



}

You have to initialize a global event, like

struct sigevent IRQevent; // defined as module global

memset(&IRQevent, 0, sizeof(IRQevent));
IRQevent.sigev_notify = SIGEV_INTR;

And your handler must return

return (&IRQevent);

That's all ...
--Armin

You have to initialize a global event, like

struct sigevent IRQevent; // defined as module global

memset(&IRQevent, 0, sizeof(IRQevent));
IRQevent.sigev_notify = SIGEV_INTR;

And your handler must return

return (&IRQevent);

That's all ...
--Armin


Still no luck...
I added the global even, but the InterruptWait(NULL, NULL) still never
returns. Is my initialization in main wrong? In main i initialize the
Hardware and do:
pthread_create(NULL, NULL, &int_thread, NULL);
and then loop forever the 'dispatch_handler(ctp)' in order to recieve
devctl and read messages passed to the recource manager.

Thanks!

here is the source:


/*Define ports and variables for hardware I/O*/

#define WALKER_NR_PORTS 16

#define IOBASE 0x320

#define DMKPC (IOBASE+0x00)

#define SMKPC (IOBASE+0x02)

#define IRQACK (IOBASE+0x04)

#define DATA_IGNORE 0xFFFF

#define BUSY_RETRY 50



#define IRQ5 5 /*interrupt type*/



#define DEVNAME "/dev/walker0" /*The
device name*/



struct sigevent IRQevent; /*IRQ interrupt
event*/





void *int_thread(void *arg)

/*This thread is dedicated to handling and managing interrupts*/

{

int id;



printf("In interrupt thread: Attaching the interrupt\n");

if(ThreadCtl(_NTO_TCTL_IO, NULL) != 0){

fprintf(stderr, "Unable to get thread IO permission\n");

}



/*INIT IRQ*/

memset(&IRQevent, 0, sizeof(IRQevent));

IRQevent.sigev_notify = SIGEV_INTR;

SIGEV_INTR_INIT(&IRQevent);



/*Attach the ISR to IRQ*/

id = InterruptAttach(IRQ5, isr_handler, &IRQevent,
sizeof(IRQevent), 0) ;


if(id == -1)

{

fprintf(stderr, "InterruptAttach failed!\n");

exit(-1);

}



out16(0xFFFF, 0x324); /*enable the interrupt in the
hardware*/



/*Now service the hardware when the ISR says to*/

while(1)

{

InterruptWait(NULL, NULL); /*NEVER
RETURNS.*/



/*DO I HAVE TO DO ANYTHING HERE or is it all
handled in the isr_handler??*/



InterruptDetach(id);

}



}





const struct sigevent * isr_handler(void *arg, int id)

/*This is the ISR*/

{

/*THIS NEVER PRINTS*/

printf("In istr_handler!!!!!!!!!!!!!\n");



/*Look at the hardware to see if it caused the interrupt, if
not return NULL*/

if(!(in16(SMKPC) & 0x000e))

{

return SIGEV_NONE; }



/*Hardware I/O*/

dmkpc = in16(DMKPC);

out16(DATA_IGNORE, IRQACK);



return (&IRQevent);

}







main (int argc, char **argv)

{

resmgr_attr_t resmgr_attr;

dispatch_t *dpp;

dispatch_context_t *ctp;

int id;



/*Initialize dispatch interface*/

if((dpp = dispatch_create()) == NULL)

{

fprintf(stderr, "%s: Unable to allocate dispatch
handle.\n", argv[0]);

return EXIT_FAILURE;

}



/*Initialize recource manager attributes*/

memset(&resmgr_attr, 0, sizeof resmgr_attr);

resmgr_attr.nparts_max = 1;

resmgr_attr.msg_max_size = 2048;



/*Initialize function for handling messages*/

iofunc_func_init(_RESMGR_CONNECT_NFUNCS, &connect_funcs,
_RESMGR_IO_NFUNCS, &io_funcs);

io_funcs.read = io_read;

io_funcs.devctl = io_devctl; /* For handling _IO_DEVCTL, sent
by devctl() */



/*initialize attribute structure used by the device*/

iofunc_attr_init(&attr, S_IFNAM | 0666, 0, 0);

attr.nbytes = strlen(buffer) +1;



/*attach the device name*/

if((id = resmgr_attach(dpp, &resmgr_attr, DEVNAME, _FTYPE_ANY,
0, &connect_funcs, &io_funcs, &attr)) == -1)

{

fprintf(stderr, "%s: Unable to attach name. \n",
argv[0]);

return EXIT_FAILURE;

}



/*allocate a context structure*/

ctp = dispatch_context_alloc(dpp);



/*Hardware Initialization, need to do only once*/

if(ThreadCtl(_NTO_TCTL_IO, NULL) != 0)

{

fprintf(stderr, "Unable to get thread IO
permission\n");

return EXIT_FAILURE;

}

iobase = mmap_device_io(WALKER_NR_PORTS, IOBASE);

if(iobase != IOBASE)

{

fprintf(stderr, "mmap_device_io give: %x, returned
%x (they should be the same but arent)\n", IOBASE, iobase);

return EXIT_FAILURE;

}

/*End Hardware init*/



/*Start up a thread that is dedicated to interrupt processing*/

pthread_create(NULL, NULL, &int_thread, NULL);



/*Start the recource manager loop*/

while(1)

{

if((ctp = dispatch_block(ctp)) == NULL)

{

fprintf(stderr, "block error\n");

return EXIT_FAILURE;

}

dispatch_handler(ctp);

}



}

please try this instruction to enable the interrupt:
out16(0x324,0xFFFF);
Maurizio Rossi

please try this instruction to enable the interrupt:
out16(0x324,0xFFFF);
Maurizio Rossi

Well that was a big error i didnt catch! Thanks, unfortunatly still no
success.
The interrupt works fine in linux (dual boot linux qnx) so its the same
hardware and IRQ's right? is there anything wrong with my code?
What can i connect to check if my code can detect IRQ5 or some other IRQ?
just to narrow down where the problem is occuring? Thanks!


/*Define ports and variables for hardware I/O*/

#define WALKER_NR_PORTS 16

#define IOBASE 0x320

#define DMKPC (IOBASE+0x00)

#define SMKPC (IOBASE+0x02)

#define IRQACK (IOBASE+0x04)

#define DATA_IGNORE 0xFFFF

#define BUSY_RETRY 50



#define IRQ5 5
/*interrupt type*/



#define DEVNAME "/dev/walker0" /*The
device name*/



struct sigevent IRQevent; /*IRQ interrupt
event*/





void *int_thread(void *arg)

/*This thread is dedicated to handling and managing interrupts*/

{

int id;



printf("In interrupt thread: Attaching the interrupt\n");

if(ThreadCtl(_NTO_TCTL_IO, NULL) != 0){

fprintf(stderr, "Unable to get thread IO permission\n");

}



/*INIT IRQ*/

memset(&IRQevent, 0, sizeof(IRQevent));

IRQevent.sigev_notify = SIGEV_INTR;

SIGEV_INTR_INIT(&IRQevent);



/*Attach the ISR to IRQ*/

id = InterruptAttach(IRQ5, isr_handler, &IRQevent,
sizeof(IRQevent), 0) ;


if(id == -1)

{

fprintf(stderr, "InterruptAttach failed!\n");

exit(-1);

}



out16(0x324, 0xFFFF); /*enable the interrupt in the
hardware*/



/*Now service the hardware when the ISR says to*/

while(1)

{

InterruptWait(NULL, NULL); /*NEVER
RETURNS.*/



/*DO I HAVE TO DO ANYTHING HERE or is it all
handled
in the isr_handler??*/



InterruptDetach(id);

}



}





const struct sigevent * isr_handler(void *arg, int id)

/*This is the ISR*/

{

/*THIS NEVER PRINTS*/

printf("In istr_handler!!!!!!!!!!!!!\n");



/*Look at the hardware to see if it caused the interrupt, if
not
return NULL*/

if(!(in16(SMKPC) & 0x000e))

{

return SIGEV_NONE; }



/*Hardware I/O*/

dmkpc = in16(DMKPC);

out16(IRQACK, DATA_IGNORE);



return (&IRQevent);

}







main (int argc, char **argv)

{

resmgr_attr_t resmgr_attr;

dispatch_t *dpp;

dispatch_context_t *ctp;

int id;



/*Initialize dispatch interface*/

if((dpp = dispatch_create()) == NULL)

{

fprintf(stderr, "%s: Unable to allocate dispatch
handle.\n", argv[0]);

return EXIT_FAILURE;

}



/*Initialize recource manager attributes*/

memset(&resmgr_attr, 0, sizeof resmgr_attr);

resmgr_attr.nparts_max = 1;

resmgr_attr.msg_max_size = 2048;



/*Initialize function for handling messages*/

iofunc_func_init(_RESMGR_CONNECT_NFUNCS, &connect_funcs,
_RESMGR_IO_NFUNCS, &io_funcs);

io_funcs.read = io_read;

io_funcs.devctl = io_devctl; /* For handling _IO_DEVCTL, sent
by devctl() */



/*initialize attribute structure used by the device*/

iofunc_attr_init(&attr, S_IFNAM | 0666, 0, 0);

attr.nbytes = strlen(buffer) +1;



/*attach the device name*/

if((id = resmgr_attach(dpp, &resmgr_attr, DEVNAME, _FTYPE_ANY,
0, &connect_funcs, &io_funcs, &attr)) == -1)

{

fprintf(stderr, "%s: Unable to attach name. \n",
argv[0]);

return EXIT_FAILURE;

}



/*allocate a context structure*/

ctp = dispatch_context_alloc(dpp);



/*Hardware Initialization, need to do only once*/

if(ThreadCtl(_NTO_TCTL_IO, NULL) != 0)

{

fprintf(stderr, "Unable to get thread IO
permission\n");

return EXIT_FAILURE;

}

iobase = mmap_device_io(WALKER_NR_PORTS, IOBASE);

if(iobase != IOBASE)

{

fprintf(stderr, "mmap_device_io give: %x, returned
%x (they should be the same but arent)\n", IOBASE, iobase);

return EXIT_FAILURE;

}

/*End Hardware init*/



/*Start up a thread that is dedicated to interrupt processing*/

pthread_create(NULL, NULL, &int_thread, NULL);



/*Start the recource manager loop*/

while(1)

{

if((ctp = dispatch_block(ctp)) == NULL)

{

fprintf(stderr, "block error\n");

return EXIT_FAILURE;

}

dispatch_handler(ctp);

}



}

P.S.> Do not use printf() in an interrupt handler function!
Regards,
Maurizio Rossi

http://www.qnx.com/developers/docs/6.3.0SP2/neutrino/sys_arch/kernel.html#INTERRUPTHANDLING.
After confirming the example is working modify it as required for your
hardware.

P.S.> Do not use printf() in an interrupt handler function!
Regards,
Maurizio Rossi


(above post got newlines cut off for some reason)

Tried and modified the example, works with the clock interrupt andkeyboard
and other IRQ's but it still doesnt detect IRQ5.

Im guessing there has to
be something strange going on with the hardware in QNX, could the IRQ's be
different under linux and QNX? Booting into linux the IRQ from the hardware
is #5, and everything works fine, under QNX no such luck.
Any way to see what the IRQ's are assigned to? it might be that they
arereasigned as im loading the QNX from an NFS server and it does some
"biosmagic".Thanks for your help so far!! Best board ever!~wasiul

Having a printf in an interrupt handler is an excellent way to see if
the interrupt is working, at least the first time. It usually
will crash your system. When I ran into this type of problem in QNX
4, there was an easy way to investigate. Here is an outline.

Build a resource manager that does the following. Attach a simple
handler to every interrupt. In the interrupt handler, update a
count for each interrupt. When you read from your resource manager,
just return the counts.

Now you can go in and see if any interrupt is firing when you think 5
should be.

Latest sysmon (0.347) will give you that information

sysmon m=intr

Now you can go in and see if any interrupt is firing when you think 5
should be.

And the IRQ5 has been assigned to your board ??
Please check it with 'pci -vvv' ...
--Armin