drivers: Add interrupt controller API

CMakeLists.txt

@@ -84,6 +84,7 @@ set(ZEPHYR_FINAL_EXECUTABLE zephyr_final)
 
 # Set some phony targets to collect dependencies
 set(OFFSETS_H_TARGET           offsets_h)
+set(SYS_IRQ_TARGET             sys_irq_target)
 set(SYSCALL_LIST_H_TARGET      syscall_list_h_target)
 set(DRIVER_VALIDATION_H_TARGET driver_validation_h_target)
 set(KOBJ_TYPES_H_TARGET        kobj_types_h_target)
@@ -910,6 +911,10 @@ add_dependencies(zephyr_interface
   ${KOBJ_TYPES_H_TARGET}
   )
 
+if (CONFIG_SYS_IRQ)
+  add_dependencies(zephyr_interface ${SYS_IRQ_TARGET})
+endif()
+
 add_custom_command(
   OUTPUT ${OFFSETS_H_PATH}
   COMMAND ${PYTHON_EXECUTABLE} ${ZEPHYR_BASE}/scripts/build/gen_offset_header.py
@@ -921,6 +926,48 @@ add_custom_command(
 )
 add_custom_target(${OFFSETS_H_TARGET} DEPENDS ${OFFSETS_H_PATH})
 
+set(SYS_IRQ_H_PATH          ${PROJECT_BINARY_DIR}/include/generated/zephyr/sys_irq_generated.h)
+set(SYS_IRQ_INTERNAL_H_PATH ${PROJECT_BINARY_DIR}/include/generated/zephyr/sys_irq_internal_generated.h)
+set(SYS_IRQ_HANDLER_H_PATH  ${PROJECT_BINARY_DIR}/include/generated/zephyr/sys_irq_handler_generated.h)
+set(SYS_IRQ_HANDLER_C_PATH  ${PROJECT_BINARY_DIR}/misc/generated/sys_irq_handler_generated.c)
+
+if(CONFIG_SYS_IRQ_LOG_SPURIOUS)
+  set(SYS_IRQ_LOG_SPURIOUS_ARG --log-spurious-irq)
+endif()
+
+if(CONFIG_SYS_IRQ_DYNAMIC)
+  set(SYS_IRQ_DYNAMIC_ARG --dynamic-irq)
+endif()
+
+add_custom_command(
+  OUTPUT
+    ${SYS_IRQ_H_PATH}
+    ${SYS_IRQ_INTERNAL_H_PATH}
+    ${SYS_IRQ_HANDLER_H_PATH}
+    ${SYS_IRQ_HANDLER_C_PATH}
+  COMMAND
+    ${PYTHON_EXECUTABLE}
+    ${ZEPHYR_BASE}/scripts/build/gen_sys_irq.py
+      --edt-pickle     ${EDT_PICKLE}
+      --irq-h          ${SYS_IRQ_H_PATH}
+      --irq-internal-h ${SYS_IRQ_INTERNAL_H_PATH}
+      --irq-handler-h  ${SYS_IRQ_HANDLER_H_PATH}
+      --irq-handler-c  ${SYS_IRQ_HANDLER_C_PATH}
+      ${SYS_IRQ_LOG_SPURIOUS_ARG}
+      ${SYS_IRQ_DYNAMIC_ARG}
+  DEPENDS
+    ${EDT_PICKLE}
+  )
+
+add_custom_target(
+  ${SYS_IRQ_TARGET}
+  DEPENDS
+    ${SYS_IRQ_H_PATH}
+    ${SYS_IRQ_INTERNAL_H_PATH}
+    ${SYS_IRQ_HANDLER_H_PATH}
+    ${SYS_IRQ_HANDLER_C_PATH}
+  )
+
 zephyr_get_include_directories_for_lang(C ZEPHYR_INCLUDES)
 
 add_subdirectory(kernel)

doc/kernel/services/index.rst

@@ -42,6 +42,7 @@ synchronization.
    synchronization/condvar.rst
    synchronization/events.rst
    smp/smp.rst
+   system_interrupts.rst
 
 .. _kernel_data_passing_api:
 

doc/kernel/services/sys_irq.rst

@@ -0,0 +1,58 @@
+.. _sys_irq:
+
+SYS IRQ (SYStem Interrupt ReQuest) WIP
+######################################
+
+The SYS IRQ kernel service utilizes the devicetree and device driver model to
+provide interrupt handling scalably, portably and efficiently.
+
+Design
+******
+
+The design provides clear separation between interrupt controllers, interrupt
+generating devices, and interrupt request management.
+
+IRQ (Interrupt ReQuests)
+========================
+
+An IRQ is a hardware event which, when triggered, invokes a handler in
+software.
+
+INTC (INTerrupt Controller)
+===========================
+
+INTCs invoke SYS IRQ INTL (INTerrupt Line) handlers when an interrupt is detected
+on the corresponding INTL.
+
+It is the responsibility of the INTC device driver, SoC and Arch, to do any and
+all preparation required to invoke the SYS IRQ INTL handlers from a execution
+context.
+
+Any and all configuration of INTLs is performed by SYS IRQ through the INTC device
+driver API.
+
+INTD (INTerrupt generating Device)
+==================================
+
+INTDs route IRQs through INTLs. Its' IRQs are defined in the devicetree, and managed
+by SYS IRQ.
+
+INTD device drivers define their IRQ handlers which SYS IRQ will invoke when the
+IRQ is triggered.
+
+INTD device drivers configure and enable/disable their IRQs using SYS IRQ.
+
+Porting guide
+*************
+
+The following section describes how to port a series SoCs, Archs and device drivers
+from legacy IRQ to SYS IRQ.
+
+INTC
+====
+
+Device drivers implementing the INTC API for all INTCs must be written for each
+INTC.
+
+INTD
+====

drivers/CMakeLists.txt

@@ -51,6 +51,7 @@ add_subdirectory_ifdef(CONFIG_I2S i2s)
 add_subdirectory_ifdef(CONFIG_I3C i3c)
 add_subdirectory_ifdef(CONFIG_IEEE802154 ieee802154)
 add_subdirectory_ifdef(CONFIG_INPUT input)
+add_subdirectory_ifdef(CONFIG_INTC intc)
 add_subdirectory_ifdef(CONFIG_IPM ipm)
 add_subdirectory_ifdef(CONFIG_KSCAN kscan)
 add_subdirectory_ifdef(CONFIG_LED led)
@@ -69,6 +70,7 @@ add_subdirectory_ifdef(CONFIG_NET_DRIVERS net)
 add_subdirectory_ifdef(CONFIG_PECI peci)
 add_subdirectory_ifdef(CONFIG_PINCTRL pinctrl)
 add_subdirectory_ifdef(CONFIG_PM_CPU_OPS pm_cpu_ops)
+add_subdirectory_ifdef(CONFIG_POWER power)
 add_subdirectory_ifdef(CONFIG_POWER_DOMAIN power_domain)
 add_subdirectory_ifdef(CONFIG_PS2 ps2)
 add_subdirectory_ifdef(CONFIG_PTP_CLOCK ptp_clock)

drivers/Kconfig

@@ -44,6 +44,7 @@ source "drivers/i2s/Kconfig"
 source "drivers/i3c/Kconfig"
 source "drivers/ieee802154/Kconfig"
 source "drivers/input/Kconfig"
+source "drivers/intc/Kconfig"
 source "drivers/interrupt_controller/Kconfig"
 source "drivers/interrupt_controller/Kconfig.shared_irq"
 source "drivers/ipm/Kconfig"
@@ -66,6 +67,7 @@ source "drivers/pcie/Kconfig"
 source "drivers/peci/Kconfig"
 source "drivers/pinctrl/Kconfig"
 source "drivers/pm_cpu_ops/Kconfig"
+source "drivers/power/Kconfig"
 source "drivers/power_domain/Kconfig"
 source "drivers/ps2/Kconfig"
 source "drivers/ptp_clock/Kconfig"

drivers/clock_control/clock_control_nrf.c

@@ -13,7 +13,7 @@
 #include <nrfx_clock.h>
 #include <zephyr/logging/log.h>
 #include <zephyr/shell/shell.h>
-#include <zephyr/irq.h>
+#include <zephyr/sys/irq.h>
 
 LOG_MODULE_REGISTER(clock_control, CONFIG_CLOCK_CONTROL_LOG_LEVEL);
 
@@ -531,7 +531,7 @@ static void lfclk_spinwait(enum nrf_lfclk_start_mode mode)
 			/* Clear pending interrupt, otherwise new clock event
 			 * would not wake up from idle.
 			 */
-			NVIC_ClearPendingIRQ(DT_INST_IRQN(0));
+			sys_irq_clear(SYS_DT_IRQN(DT_NODELABEL(clock)));
 			nrf_clock_task_trigger(NRF_CLOCK,
 					       NRF_CLOCK_TASK_LFCLKSTART);
 		}
@@ -648,6 +648,16 @@ static void hfclkaudio_init(void)
 #endif
 }
 
+static int clk_irq_handler_wrapper(const void *data)
+{
+	ARG_UNUSED(data);
+
+	nrfx_clock_irq_handler();
+	return SYS_IRQ_HANDLED;
+}
+
+SYS_DT_DEFINE_IRQ_HANDLER(DT_NODELABEL(clock), clk_irq_handler_wrapper, NULL);
+
 static int clk_init(const struct device *dev)
 {
 	nrfx_err_t nrfx_err;
@@ -657,9 +667,6 @@ static int clk_init(const struct device *dev)
 		.stop = onoff_stop
 	};
 
-	IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority),
-		    nrfx_isr, nrfx_power_clock_irq_handler, 0);
-
 	nrfx_err = nrfx_clock_init(clock_event_handler);
 	if (nrfx_err != NRFX_SUCCESS) {
 		return -EIO;
@@ -673,7 +680,9 @@ static int clk_init(const struct device *dev)
 		z_nrf_clock_calibration_init(data->mgr);
 	}
 
-	nrfx_clock_enable();
+	sys_irq_configure(SYS_DT_IRQN(DT_NODELABEL(clock)),
+			  SYS_DT_IRQ_FLAGS(DT_NODELABEL(clock)));
+	sys_irq_enable(SYS_DT_IRQN(DT_NODELABEL(clock)));
 
 	for (enum clock_control_nrf_type i = 0;
 		i < CLOCK_CONTROL_NRF_TYPE_COUNT; i++) {

drivers/gpio/gpio_nrfx.c

@@ -10,7 +10,7 @@
 #include <string.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/dt-bindings/gpio/nordic-nrf-gpio.h>
-#include <zephyr/irq.h>
+#include <zephyr/sys/irq.h>
 
 #include <zephyr/drivers/gpio/gpio_utils.h>
 
@@ -385,10 +385,6 @@ static void nrfx_gpio_handler(nrfx_gpiote_pin_t abs_pin,
 }
 #endif /* CONFIG_GPIO_NRFX_INTERRUPT */
 
-#define GPIOTE_IRQ_HANDLER_CONNECT(node_id) \
-	IRQ_CONNECT(DT_IRQN(node_id), DT_IRQ(node_id, priority), nrfx_isr, \
-		    NRFX_CONCAT(nrfx_gpiote_, DT_PROP(node_id, instance), _irq_handler), 0);
-
 static int gpio_nrfx_init(const struct device *port)
 {
 	const struct gpio_nrfx_cfg *cfg = get_port_cfg(port);
@@ -409,7 +405,6 @@ static int gpio_nrfx_init(const struct device *port)
 
 #ifdef CONFIG_GPIO_NRFX_INTERRUPT
 	nrfx_gpiote_global_callback_set(&cfg->gpiote, nrfx_gpio_handler, NULL);
-	DT_FOREACH_STATUS_OKAY(nordic_nrf_gpiote, GPIOTE_IRQ_HANDLER_CONNECT);
 #endif /* CONFIG_GPIO_NRFX_INTERRUPT */
 
 	return 0;
@@ -474,3 +469,34 @@ static const struct gpio_driver_api gpio_nrfx_drv_api_funcs = {
 			 &gpio_nrfx_drv_api_funcs);
 
 DT_INST_FOREACH_STATUS_OKAY(GPIO_NRF_DEVICE)
+
+#define GPIOTE_NRF_ISR_SYM(node_id)					\
+	NRFX_CONCAT(							\
+		nrfx_gpiote_,						\
+		DT_PROP(node_id, instance),				\
+		_irq_handler						\
+	)
+
+#define GPIOTE_NRF_ISR_WRAP_SYM(node_id)				\
+	_CONCAT_3(							\
+		gpiote_nrf_,						\
+		DT_PROP(node_id, instance),				\
+		_isr_wrapper						\
+	)
+
+#define GPIOTE_NRF_DEFINE_IRQ_HANDLER(node_id)				\
+	static int GPIOTE_NRF_ISR_WRAP_SYM(node_id)(const void *data)	\
+	{								\
+		GPIOTE_NRF_ISR_SYM(node_id)();				\
+		return SYS_IRQ_HANDLED;					\
+	}								\
+									\
+	SYS_DT_DEFINE_IRQ_HANDLER(					\
+		node_id,						\
+		GPIOTE_NRF_ISR_WRAP_SYM(node_id),			\
+		NULL							\
+	)
+
+#ifdef CONFIG_GPIO_NRFX_INTERRUPT
+DT_FOREACH_STATUS_OKAY(nordic_nrf_gpiote, GPIOTE_NRF_DEFINE_IRQ_HANDLER);
+#endif /* CONFIG_GPIO_NRFX_INTERRUPT */

drivers/intc/CMakeLists.txt

@@ -0,0 +1,5 @@
+# Copyright (c) 2024 Bjarki Arge Andreasen
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory_ifdef(CONFIG_INTC_ARM_V7M_NVIC intc_arm_v7m_nvic)
+add_subdirectory_ifdef(CONFIG_INTC_ARM_V8M_NVIC intc_arm_v8m_nvic)

drivers/intc/Kconfig

@@ -0,0 +1,12 @@
+# Copyright (c) 2023 Bjarki Arge Andreasen
+# SPDX-License-Identifier: Apache-2.0
+
+menuconfig INTC
+	bool "INTC (INTerrupt Controller) drivers"
+
+if INTC
+
+rsource "intc_arm_v7m_nvic/Kconfig"
+rsource "intc_arm_v8m_nvic/Kconfig"
+
+endif # INTC

drivers/intc/intc_arm_v7m_nvic/CMakeLists.txt

@@ -0,0 +1,7 @@
+# Copyright (c) 2024 Nordic Semiconductor
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(arm_v7m_nvic.c)
+zephyr_linker_sources(ROM_START SORT_KEY 0x0vectors irq-vector-table.ld)

drivers/intc/intc_arm_v7m_nvic/Kconfig

@@ -0,0 +1,7 @@
+# Copyright (c) 2024 Nordic Semiconductor
+# SPDX-License-Identifier: Apache-2.0
+
+config INTC_ARM_V7M_NVIC
+	bool "Arm V7M Nested Vector Interrupt Controller"
+	default y
+	depends on DT_HAS_ARM_V7M_NVIC_ENABLED