imxrt-multi: add GPIO interrupt handling #581

julianuziemblo · 2025-09-11T18:15:45Z

add GPIO interrupt handling to iMX RT 1050/1060/1170 multidriver

Description

Motivation and Context

will be useful in lwip to replace GPIO polling

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to change)
Chore (refactoring, style fixes, git/CI config, submodule management, no code logic changes)

How Has This Been Tested?

Already covered by automatic testing.
New test added: (add PR link here).
Tested by hand on: armv7m7-imxrt106x-evk

Checklist:

My change requires a change to the documentation.
I have updated the documentation accordingly.
I have added tests to cover my changes.
All new and existing linter checks and tests passed.
My changes generate no new compilation warnings for any of the targets.

Special treatment

This PR needs additional PRs to work (list the PRs, preferably in merge-order).
I will merge this PR by myself when appropriate.

JIRA: RTOS-1119

multi/imxrt-multi/gpio.c

gemini-code-assist

Summary of Changes

Hello @julianuziemblo, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the iMX RT multidriver by integrating robust GPIO interrupt handling. The primary goal is to move away from inefficient polling methods for detecting GPIO state changes, providing a more responsive and resource-efficient way to interact with hardware. This new functionality will be particularly useful for network stacks like lwip, allowing them to react to events more effectively.

Highlights

GPIO Interrupt Handling: Introduced comprehensive GPIO interrupt handling capabilities, allowing the system to react to external pin changes without constant polling.
Asynchronous Interrupt Waiting: Implemented an optional asynchronous interrupt waiting mechanism, enabling non-blocking operations for GPIO interrupts, which is beneficial for applications like lwip.
New API Functions: Added new functions gpio_setIrqConf, gpio_getIrqConf, and gpio_waitIrq to configure and wait for GPIO interrupts, enhancing the GPIO driver's functionality.
Platform-Specific Interrupt Definitions: Included platform-specific GPIO interrupt definitions for iMX RT 1060 and 1170, ensuring proper interrupt registration and handling across supported devices.

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gemini-code-assist

Code Review

This pull request introduces GPIO interrupt handling, a valuable feature for replacing polling mechanisms. However, the current implementation has several critical issues related to thread safety and correctness that must be addressed. These include a deadlock in the interrupt handler thread due to improper mutex usage, a race condition when accessing shared data structures without locks, and a bug in linked list manipulation that can lead to missed interrupts. I have provided detailed comments on these issues with suggestions for fixes. Addressing these is crucial for the stability and correctness of the new functionality.

multi/imxrt-multi/gpio.c

github-actions · 2025-09-11T18:31:39Z

Unit Test Results

8 237 tests ±0 7 713 ✅ ±0 41m 12s ⏱️ +2s
479 suites ±0 524 💤 ±0
1 files ±0 0 ❌ ±0

Results for commit dcac1bb. ± Comparison against base commit b4dea56.

♻️ This comment has been updated with latest results.

julianuziemblo · 2025-09-12T10:07:49Z

/gemini review

gemini-code-assist

Code Review

This pull request adds GPIO interrupt handling capabilities to the i.MX RT multidriver, including both synchronous (polling) and asynchronous (interrupt-driven) mechanisms. The changes are well-structured, using a feature flag GPIO_SUPPORT_ASYNC_IRQ_WAIT to control the inclusion of the asynchronous logic. The implementation introduces new functions for configuring and waiting for interrupts, along with a dedicated thread for handling asynchronous requests.

My review has identified a few issues. There is a critical bug in the interrupt service routine that would prevent the asynchronous mechanism from working correctly. Additionally, there are a couple of high-severity issues, including a logic error in input validation and a resource leak in an initialization function's error path. I've also included some medium-severity comments to improve code clarity and maintainability. Addressing these points will improve the robustness and correctness of the new functionality.

multi/imxrt-multi/gpio.c

gemini-code-assist · 2025-09-12T10:09:41Z

multi/imxrt-multi/gpio.c

+	err = beginthread(gpio_intrThread, GPIO_IRQ_THREAD_PRIO, gpio_common.irq.stack, sizeof(gpio_common.irq.stack), NULL);
+	if (err < 0) {
+		resourceDestroy(gpio_common.irq.req_list.lock);
+		resourceDestroy(gpio_common.irq.lock);
+		resourceDestroy(gpio_common.irq.cond);
+		return err;
+	}


If beginthread fails, the allocated mutexes and condition variable are destroyed, but the interrupt handlers registered in gpio_initInterrupts are not unregistered. This is a resource leak. A cleanup function should be implemented to unregister these handlers, and it should be called from this error path.

multi/imxrt-multi/gpio.c

JIRA: RTOS-1119

add new GPIO operations: - gpio_[set|get]_irq_conf: get or set interrupt configuration (active low/high/rising edge/falling edge) for a pin - gpio_wait_irq: if GPIO_SUPPORT_ASYNC_IRQ_WAIT=1, adds request to queue and responds with a bitmask of all interrupts that occured only when the requested interrupts occur. else, returns immediatelly either msg.o.err=-EWOULDBLOCK if the interrupt did not occur or with a bitmask of all requested IRQs that occured. JIRA: RTOS-1119

julianuziemblo added 2 commits September 11, 2025 20:12

devices/imxrt-multi: format files + fix MISRA violations

2389ec6

JIRA: RTOS-1119

imxrt1060-multi: fix GPIO7-9 base offsets

7ccb801

JIRA: RTOS-1119

julianuziemblo requested a review from Darchiv September 11, 2025 18:15

github-actions bot reviewed Sep 11, 2025

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multi/imxrt-multi/gpio.c Outdated Show resolved Hide resolved

gemini-code-assist bot reviewed Sep 11, 2025

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julianuziemblo force-pushed the julianuziemblo/RTOS-1119 branch from 268e729 to ec840e8 Compare September 11, 2025 18:16

gemini-code-assist bot reviewed Sep 11, 2025

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julianuziemblo marked this pull request as draft September 11, 2025 18:27

julianuziemblo force-pushed the julianuziemblo/RTOS-1119 branch from ec840e8 to 09ea8d8 Compare September 12, 2025 10:06

gemini-code-assist bot reviewed Sep 12, 2025

View reviewed changes

julianuziemblo force-pushed the julianuziemblo/RTOS-1119 branch 4 times, most recently from ebafbeb to 49a3dfb Compare September 12, 2025 11:31

julianuziemblo added 2 commits September 12, 2025 15:07

imxrt-multi: handle all errors

e8549a5

JIRA: RTOS-1119

julianuziemblo force-pushed the julianuziemblo/RTOS-1119 branch from 49a3dfb to dcac1bb Compare September 12, 2025 13:07

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imxrt-multi: add GPIO interrupt handling #581

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julianuziemblo commented Sep 11, 2025

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julianuziemblo commented Sep 11, 2025

Description

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How Has This Been Tested?

Checklist:

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Summary of Changes

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Code Review

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