MFC r324185:

Enhance the interrupt capabilities of ti_pruss driver.

The existing ti_pruss driver for the PRUSS Hardware provided by the AM335x
ARM CPU has basic interrupt capabilities.  This updated driver provides some
more options:

 - Sysctl based configuration for the interrupts (for some examples, see the
   test plan in the phabricator review cited below).

 - A device file (/dev/pruss0.irqN) for each enabled interrupt. This file
   can be read and the device blocks if no irq has happened or returns an
   uint64_t timestamp based on nanouptime().

 - Each interrupt device file provides kqueue-based event notification,
   blocking read(), or select().

Submitted by:	Manuel Stuhn <freebsdnewbie@freenet.de>
Differential Revision:	https://reviews.freebsd.org/D11959

2 files changed, 511 insertions, 51 deletions

diff --git a/sys/arm/ti/ti_pruss.c b/sys/arm/ti/ti_pruss.c
index cbf8050..e3f84b2 100644
--- a/sys/arm/ti/ti_pruss.c
+++ b/sys/arm/ti/ti_pruss.c
@@ -1,5 +1,6 @@
 /*-
  * Copyright (c) 2013 Rui Paulo <rpaulo@FreeBSD.org>
+ * Copyright (c) 2017 Manuel Stuehn
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -26,28 +27,33 @@
 #include <sys/cdefs.h>
 __FBSDID("$FreeBSD$");
 
+#include <sys/poll.h>
+#include <sys/time.h>
+#include <sys/uio.h>
 #include <sys/param.h>
 #include <sys/systm.h>
+#include <sys/fcntl.h>
 #include <sys/bus.h>
 #include <sys/conf.h>
 #include <sys/kernel.h>
 #include <sys/module.h>
 #include <sys/malloc.h>
 #include <sys/rman.h>
+#include <sys/types.h>
+#include <sys/sysctl.h>
 #include <sys/event.h>
 #include <sys/selinfo.h>
 #include <machine/bus.h>
 #include <machine/cpu.h>
 #include <machine/frame.h>
 #include <machine/intr.h>
+#include <machine/atomic.h>
 
 #include <dev/fdt/fdt_common.h>
 #include <dev/ofw/openfirm.h>
 #include <dev/ofw/ofw_bus.h>
 #include <dev/ofw/ofw_bus_subr.h>
 
-#include <machine/bus.h>
-
 #include <arm/ti/ti_prcm.h>
 #include <arm/ti/ti_pruss.h>
 
@@ -60,27 +66,72 @@ __FBSDID("$FreeBSD$");
 #define	DPRINTF(fmt, ...)
 #endif
 
+static d_open_t			ti_pruss_irq_open;
+static d_read_t			ti_pruss_irq_read;
+static d_poll_t			ti_pruss_irq_poll;
+
 static device_probe_t		ti_pruss_probe;
 static device_attach_t		ti_pruss_attach;
 static device_detach_t		ti_pruss_detach;
 static void			ti_pruss_intr(void *);
 static d_open_t			ti_pruss_open;
 static d_mmap_t			ti_pruss_mmap;
-static void 			ti_pruss_kq_read_detach(struct knote *);
-static int 			ti_pruss_kq_read_event(struct knote *, long);
-static d_kqfilter_t		ti_pruss_kqfilter;
+static void 			ti_pruss_irq_kqread_detach(struct knote *);
+static int 			ti_pruss_irq_kqevent(struct knote *, long);
+static d_kqfilter_t		ti_pruss_irq_kqfilter;
+static void			ti_pruss_privdtor(void *data);
+
+#define	TI_PRUSS_PRU_IRQS 2
+#define	TI_PRUSS_HOST_IRQS 8
+#define	TI_PRUSS_IRQS (TI_PRUSS_HOST_IRQS+TI_PRUSS_PRU_IRQS)
+#define	TI_PRUSS_EVENTS 64
+#define	NOT_SET_STR "NONE"
+#define	TI_TS_ARRAY 16
+
+struct ctl
+{
+	size_t cnt;
+	size_t idx;
+};
+
+struct ts_ring_buf
+{
+	struct ctl ctl;
+	uint64_t ts[TI_TS_ARRAY];
+};
+
+struct ti_pruss_irqsc
+{
+	struct mtx		sc_mtx;
+	struct cdev		*sc_pdev;
+	struct selinfo		sc_selinfo;
+	int8_t			channel;
+	int8_t			last;
+	int8_t			event;
+	bool			enable;
+	struct ts_ring_buf	tstamps;
+};
 
-#define	TI_PRUSS_IRQS		8
+static struct cdevsw ti_pruss_cdevirq = {
+	.d_version =	D_VERSION,
+	.d_name =	"ti_pruss_irq",
+	.d_open =	ti_pruss_irq_open,
+	.d_read =	ti_pruss_irq_read,
+	.d_poll =	ti_pruss_irq_poll,
+	.d_kqfilter =	ti_pruss_irq_kqfilter,
+};
 
 struct ti_pruss_softc {
 	struct mtx		sc_mtx;
 	struct resource 	*sc_mem_res;
-	struct resource 	*sc_irq_res[TI_PRUSS_IRQS];
-	void            	*sc_intr[TI_PRUSS_IRQS];
+	struct resource 	*sc_irq_res[TI_PRUSS_HOST_IRQS];
+	void            	*sc_intr[TI_PRUSS_HOST_IRQS];
+	struct ti_pruss_irqsc	sc_irq_devs[TI_PRUSS_IRQS];
 	bus_space_tag_t		sc_bt;
 	bus_space_handle_t	sc_bh;
 	struct cdev		*sc_pdev;
 	struct selinfo		sc_selinfo;
+	bool			sc_glob_irqen;
 };
 
 static struct cdevsw ti_pruss_cdevsw = {
@@ -88,7 +139,6 @@ static struct cdevsw ti_pruss_cdevsw = {
 	.d_name =	"ti_pruss",
 	.d_open =	ti_pruss_open,
 	.d_mmap =	ti_pruss_mmap,
-	.d_kqfilter =	ti_pruss_kqfilter,
 };
 
 static device_method_t ti_pruss_methods[] = {
@@ -108,6 +158,7 @@ static driver_t ti_pruss_driver = {
 static devclass_t ti_pruss_devclass;
 
 DRIVER_MODULE(ti_pruss, simplebus, ti_pruss_driver, ti_pruss_devclass, 0, 0);
+MODULE_DEPEND(ti_pruss, ti_prcm, 1, 1, 1);
 
 static struct resource_spec ti_pruss_irq_spec[] = {
 	{ SYS_RES_IRQ,	    0,  RF_ACTIVE },
@@ -120,7 +171,111 @@ static struct resource_spec ti_pruss_irq_spec[] = {
 	{ SYS_RES_IRQ,	    7,  RF_ACTIVE },
 	{ -1,               0,  0 }
 };
-CTASSERT(TI_PRUSS_IRQS == nitems(ti_pruss_irq_spec) - 1);
+CTASSERT(TI_PRUSS_HOST_IRQS == nitems(ti_pruss_irq_spec) - 1);
+
+static int
+ti_pruss_irq_open(struct cdev *dev, int oflags, int devtype, struct thread *td)
+{
+	struct ctl* irqs;
+	struct ti_pruss_irqsc *sc;
+	sc = dev->si_drv1;
+
+	irqs = malloc(sizeof(struct ctl), M_DEVBUF, M_WAITOK);
+	if (!irqs)
+	    return (ENOMEM);
+
+	irqs->cnt = sc->tstamps.ctl.cnt;
+	irqs->idx = sc->tstamps.ctl.idx;
+
+	return devfs_set_cdevpriv(irqs, ti_pruss_privdtor);
+}
+
+static void
+ti_pruss_privdtor(void *data)
+{
+    free(data, M_DEVBUF);
+}
+
+static int
+ti_pruss_irq_poll(struct cdev *dev, int events, struct thread *td)
+{
+	struct ctl* irqs;
+	struct ti_pruss_irqsc *sc;
+	sc = dev->si_drv1;
+
+	devfs_get_cdevpriv((void**)&irqs);
+
+	if (events & (POLLIN | POLLRDNORM)) {
+		if (sc->tstamps.ctl.cnt != irqs->cnt)
+			return events & (POLLIN | POLLRDNORM);
+		else
+			selrecord(td, &sc->sc_selinfo);
+	}
+	return 0;
+}
+
+static int
+ti_pruss_irq_read(struct cdev *cdev, struct uio *uio, int ioflag)
+{
+	const size_t ts_len = sizeof(uint64_t);
+	struct ti_pruss_irqsc* irq;
+	struct ctl* priv;
+	int error = 0;
+	size_t idx;
+	ssize_t level;
+
+	irq = cdev->si_drv1;
+
+	if (uio->uio_resid < ts_len)
+		return (EINVAL);
+
+	error = devfs_get_cdevpriv((void**)&priv);
+	if (error)
+	    return (error);
+
+	mtx_lock(&irq->sc_mtx);
+
+	if (irq->tstamps.ctl.cnt - priv->cnt > TI_TS_ARRAY)
+	{
+		priv->cnt = irq->tstamps.ctl.cnt;
+		priv->idx = irq->tstamps.ctl.idx;
+		mtx_unlock(&irq->sc_mtx);
+		return (ENXIO);
+	}
+
+	do {
+		idx = priv->idx;
+		level = irq->tstamps.ctl.idx - idx;
+		if (level < 0)
+			level += TI_TS_ARRAY;
+
+		if (level == 0) {
+			if (ioflag & O_NONBLOCK) {
+				mtx_unlock(&irq->sc_mtx);
+				return (EWOULDBLOCK);
+			}
+
+			error = msleep(irq, &irq->sc_mtx, PCATCH | PDROP,
+				"pruirq", 0);
+			if (error)
+				return error;
+
+			mtx_lock(&irq->sc_mtx);
+		}
+	}while(level == 0);
+
+	mtx_unlock(&irq->sc_mtx);
+
+	error = uiomove(&irq->tstamps.ts[idx], ts_len, uio);
+
+	if (++idx == TI_TS_ARRAY)
+		idx = 0;
+	priv->idx = idx;
+
+	atomic_add_32(&priv->cnt, 1);
+
+	return (error);
+}
 
 static struct ti_pruss_irq_arg {
 	int 		       irq;
@@ -139,6 +294,204 @@ ti_pruss_reg_write(struct ti_pruss_softc *sc, uint32_t reg, uint32_t val)
 	bus_space_write_4(sc->sc_bt, sc->sc_bh, reg, val);
 }
 
+static __inline void
+ti_pruss_interrupts_clear(struct ti_pruss_softc *sc)
+{
+	/* disable global interrupt */
+	ti_pruss_reg_write(sc, PRUSS_INTC_GER, 0 );
+
+	/* clear all events */
+	ti_pruss_reg_write(sc, PRUSS_INTC_SECR0, 0xFFFFFFFF);
+	ti_pruss_reg_write(sc, PRUSS_INTC_SECR1, 0xFFFFFFFF);
+
+	/* disable all host interrupts */
+	ti_pruss_reg_write(sc, PRUSS_INTC_HIER, 0);
+}
+
+static __inline int
+ti_pruss_interrupts_enable(struct ti_pruss_softc *sc, int8_t irq, bool enable)
+{
+	if (enable && ((sc->sc_irq_devs[irq].channel == -1) ||
+	    (sc->sc_irq_devs[irq].event== -1)))
+	{
+		device_printf( sc->sc_pdev->si_drv1,
+			"Interrupt chain not fully configured, not possible to enable\n" );
+		return (EINVAL);
+	}
+
+	sc->sc_irq_devs[irq].enable = enable;
+
+	if (sc->sc_irq_devs[irq].sc_pdev) {
+		destroy_dev(sc->sc_irq_devs[irq].sc_pdev);
+		sc->sc_irq_devs[irq].sc_pdev = NULL;
+	}
+
+	if (enable) {
+		sc->sc_irq_devs[irq].sc_pdev = make_dev(&ti_pruss_cdevirq, 0, UID_ROOT, GID_WHEEL,
+		    0600, "pruss%d.irq%d", device_get_unit(sc->sc_pdev->si_drv1), irq);
+		sc->sc_irq_devs[irq].sc_pdev->si_drv1 = &sc->sc_irq_devs[irq];
+
+		sc->sc_irq_devs[irq].tstamps.ctl.idx = 0;
+	}
+
+	uint32_t reg = enable ? PRUSS_INTC_HIEISR : PRUSS_INTC_HIDISR;
+	ti_pruss_reg_write(sc, reg, sc->sc_irq_devs[irq].channel);
+
+	reg = enable ? PRUSS_INTC_EISR : PRUSS_INTC_EICR;
+	ti_pruss_reg_write(sc, reg, sc->sc_irq_devs[irq].event );
+
+	return (0);
+}
+
+static __inline void
+ti_pruss_map_write(struct ti_pruss_softc *sc, uint32_t basereg, uint8_t index, uint8_t content)
+{
+	const size_t regadr = basereg + index & ~0x03;
+	const size_t bitpos = (index & 0x03) * 8;
+	uint32_t rmw = ti_pruss_reg_read(sc, regadr);
+	rmw = (rmw & ~( 0xF << bitpos)) | ( (content & 0xF) << bitpos);
+	ti_pruss_reg_write(sc, regadr, rmw);
+}
+
+static int
+ti_pruss_event_map( SYSCTL_HANDLER_ARGS )
+{
+	struct ti_pruss_softc *sc;
+	const int8_t irq = arg2;
+	int err;
+	char event[sizeof(NOT_SET_STR)];
+
+	sc = arg1;
+
+	if(sc->sc_irq_devs[irq].event == -1)
+		bcopy(NOT_SET_STR, event, sizeof(event));
+	else
+		snprintf(event, sizeof(event), "%d", sc->sc_irq_devs[irq].event);
+
+	err = sysctl_handle_string(oidp, event, sizeof(event), req);
+	if(err != 0)
+		return (err);
+
+	if (req->newptr) {  // write event
+		if (strcmp(NOT_SET_STR, event) == 0) {
+			ti_pruss_interrupts_enable(sc, irq, false);
+			sc->sc_irq_devs[irq].event = -1;
+		} else {
+			if (sc->sc_irq_devs[irq].channel == -1) {
+				device_printf( sc->sc_pdev->si_drv1,
+					"corresponding channel not configured\n");
+				return (ENXIO);
+			}
+
+			const int8_t channelnr = sc->sc_irq_devs[irq].channel;
+			const int8_t eventnr = strtol( event, NULL, 10 ); // TODO: check if strol is valid
+			if (eventnr > TI_PRUSS_EVENTS || eventnr < 0) {
+				device_printf( sc->sc_pdev->si_drv1,
+					"Event number %d not valid (0 - %d)",
+					channelnr, TI_PRUSS_EVENTS -1);
+				return (EINVAL);
+			}
+
+			sc->sc_irq_devs[irq].channel = channelnr;
+			sc->sc_irq_devs[irq].event = eventnr;
+
+			// event[nr] <= channel
+			ti_pruss_map_write(sc, PRUSS_INTC_CMR_BASE,
+			    eventnr, channelnr);
+		}
+	}
+	return (err);
+}
+
+static int
+ti_pruss_channel_map(SYSCTL_HANDLER_ARGS)
+{
+	struct ti_pruss_softc *sc;
+	int err;
+	char channel[sizeof(NOT_SET_STR)];
+	const int8_t irq = arg2;
+
+	sc = arg1;
+
+	if (sc->sc_irq_devs[irq].channel == -1)
+		bcopy(NOT_SET_STR, channel, sizeof(channel));
+	else
+		snprintf(channel, sizeof(channel), "%d", sc->sc_irq_devs[irq].channel);
+
+	err = sysctl_handle_string(oidp, channel, sizeof(channel), req);
+	if (err != 0)
+		return (err);
+
+	if (req->newptr) { // write event
+		if (strcmp(NOT_SET_STR, channel) == 0) {
+			ti_pruss_interrupts_enable(sc, irq, false);
+			ti_pruss_reg_write(sc, PRUSS_INTC_HIDISR,
+			    sc->sc_irq_devs[irq].channel);
+			sc->sc_irq_devs[irq].channel = -1;
+		} else {
+			const int8_t channelnr = strtol(channel, NULL, 10); // TODO: check if strol is valid
+			if (channelnr > TI_PRUSS_IRQS || channelnr < 0)
+			{
+				device_printf(sc->sc_pdev->si_drv1,
+					"Channel number %d not valid (0 - %d)",
+					channelnr, TI_PRUSS_IRQS-1);
+				return (EINVAL);
+			}
+
+			sc->sc_irq_devs[irq].channel = channelnr;
+			sc->sc_irq_devs[irq].last = -1;
+
+			// channel[nr] <= irqnr
+			ti_pruss_map_write(sc, PRUSS_INTC_HMR_BASE,
+				irq, channelnr);
+		}
+	}
+
+	return (err);
+}
+
+static int
+ti_pruss_interrupt_enable(SYSCTL_HANDLER_ARGS)
+{
+	struct ti_pruss_softc *sc;
+	int err;
+	bool irqenable;
+	const int8_t irq = arg2;
+
+	sc = arg1;
+	irqenable = sc->sc_irq_devs[arg2].enable;
+
+	err = sysctl_handle_bool(oidp, &irqenable, arg2, req);
+	if (err != 0)
+		return (err);
+
+	if (req->newptr) // write enable
+		return ti_pruss_interrupts_enable(sc, irq, irqenable);
+
+	return (err);
+}
+
+static int
+ti_pruss_global_interrupt_enable(SYSCTL_HANDLER_ARGS)
+{
+	struct ti_pruss_softc *sc;
+	int err;
+	bool glob_irqen;
+
+	sc = arg1;
+	glob_irqen = sc->sc_glob_irqen;
+
+	err = sysctl_handle_bool(oidp, &glob_irqen, arg2, req);
+	if (err != 0)
+		return (err);
+
+	if (req->newptr) {
+		sc->sc_glob_irqen = glob_irqen;
+		ti_pruss_reg_write(sc, PRUSS_INTC_GER, glob_irqen);
+	}
+
+	return (err);
+}
 static int
 ti_pruss_probe(device_t dev)
 {
@@ -168,13 +521,31 @@ ti_pruss_attach(device_t dev)
 	sc = device_get_softc(dev);
 	rid = 0;
 	mtx_init(&sc->sc_mtx, "TI PRUSS", NULL, MTX_DEF);
-	knlist_init_mtx(&sc->sc_selinfo.si_note, &sc->sc_mtx);
 	sc->sc_mem_res = bus_alloc_resource_any(dev, SYS_RES_MEMORY, &rid,
 	    RF_ACTIVE);
 	if (sc->sc_mem_res == NULL) {
 		device_printf(dev, "could not allocate memory resource\n");
 		return (ENXIO);
 	}
+
+	struct sysctl_ctx_list *clist = device_get_sysctl_ctx(dev);
+	if (!clist)
+		return (EINVAL);
+
+	struct sysctl_oid *poid;
+	poid = device_get_sysctl_tree( dev );
+	if (!poid)
+		return (EINVAL);
+
+	sc->sc_glob_irqen = false;
+	struct sysctl_oid *irq_root = SYSCTL_ADD_NODE(clist, SYSCTL_CHILDREN(poid),
+	    OID_AUTO, "irq", CTLFLAG_RD, 0,
+	    "PRUSS Host Interrupts");
+	SYSCTL_ADD_PROC(clist, SYSCTL_CHILDREN(poid), OID_AUTO,
+	    "global_interrupt_enable", CTLFLAG_RW | CTLTYPE_U8,
+	    sc, 0, ti_pruss_global_interrupt_enable,
+	    "CU", "Global interrupt enable");
+
 	sc->sc_bt = rman_get_bustag(sc->sc_mem_res);
 	sc->sc_bh = rman_get_bushandle(sc->sc_mem_res);
 	if (bus_alloc_resources(dev, ti_pruss_irq_spec, sc->sc_irq_res) != 0) {
@@ -182,48 +553,91 @@ ti_pruss_attach(device_t dev)
 		ti_pruss_detach(dev);
 		return (ENXIO);
 	}
+
+	ti_pruss_interrupts_clear(sc);
+
 	for (i = 0; i < TI_PRUSS_IRQS; i++) {
-		ti_pruss_irq_args[i].irq = i;
-		ti_pruss_irq_args[i].sc = sc;
-		if (bus_setup_intr(dev, sc->sc_irq_res[i],
-		    INTR_MPSAFE | INTR_TYPE_MISC,
-		    NULL, ti_pruss_intr, &ti_pruss_irq_args[i],
-		    &sc->sc_intr[i]) != 0) {
-			device_printf(dev,
-			    "unable to setup the interrupt handler\n");
-			ti_pruss_detach(dev);
-			return (ENXIO);
+		char name[8];
+		snprintf(name, sizeof(name), "%d", i);
+
+		struct sysctl_oid *irq_nodes = SYSCTL_ADD_NODE(clist, SYSCTL_CHILDREN(irq_root),
+		    OID_AUTO, name, CTLFLAG_RD, 0,
+		    "PRUSS Interrupts");
+		SYSCTL_ADD_PROC(clist, SYSCTL_CHILDREN(irq_nodes), OID_AUTO,
+		    "channel", CTLFLAG_RW | CTLTYPE_STRING, sc, i, ti_pruss_channel_map,
+		    "A", "Channel attached to this irq");
+		SYSCTL_ADD_PROC(clist, SYSCTL_CHILDREN(irq_nodes), OID_AUTO,
+		    "event", CTLFLAG_RW | CTLTYPE_STRING, sc, i, ti_pruss_event_map,
+		    "A", "Event attached to this irq");
+		SYSCTL_ADD_PROC(clist, SYSCTL_CHILDREN(irq_nodes), OID_AUTO,
+		    "enable", CTLFLAG_RW | CTLTYPE_U8, sc, i, ti_pruss_interrupt_enable,
+		    "CU", "Enable/Disable interrupt");
+
+		sc->sc_irq_devs[i].event = -1;
+		sc->sc_irq_devs[i].channel = -1;
+		sc->sc_irq_devs[i].tstamps.ctl.idx = 0;
+
+		if (i < TI_PRUSS_HOST_IRQS) {
+			ti_pruss_irq_args[i].irq = i;
+			ti_pruss_irq_args[i].sc = sc;
+			if (bus_setup_intr(dev, sc->sc_irq_res[i],
+			    INTR_MPSAFE | INTR_TYPE_MISC,
+			    NULL, ti_pruss_intr, &ti_pruss_irq_args[i],
+			    &sc->sc_intr[i]) != 0) {
+				device_printf(dev,
+				    "unable to setup the interrupt handler\n");
+				ti_pruss_detach(dev);
+
+				return (ENXIO);
+			}
+			mtx_init(&sc->sc_irq_devs[i].sc_mtx, "TI PRUSS IRQ", NULL, MTX_DEF);
+			knlist_init_mtx(&sc->sc_irq_devs[i].sc_selinfo.si_note, &sc->sc_irq_devs[i].sc_mtx);
 		}
 	}
-	if (ti_pruss_reg_read(sc, PRUSS_AM18XX_INTC) == PRUSS_AM18XX_REV)
-		device_printf(dev, "AM18xx PRU-ICSS\n");
-	else if (ti_pruss_reg_read(sc, PRUSS_AM33XX_INTC) == PRUSS_AM33XX_REV)
+
+	if (ti_pruss_reg_read(sc, PRUSS_AM33XX_INTC) == PRUSS_AM33XX_REV)
 		device_printf(dev, "AM33xx PRU-ICSS\n");
 
 	sc->sc_pdev = make_dev(&ti_pruss_cdevsw, 0, UID_ROOT, GID_WHEEL,
 	    0600, "pruss%d", device_get_unit(dev));
 	sc->sc_pdev->si_drv1 = dev;
 
+	/*  Acc. to datasheet always write 1 to polarity registers */
+	ti_pruss_reg_write(sc, PRUSS_INTC_SIPR0, 0xFFFFFFFF);
+	ti_pruss_reg_write(sc, PRUSS_INTC_SIPR1, 0xFFFFFFFF);
+
+	/* Acc. to datasheet always write 0 to event type registers */
+	ti_pruss_reg_write(sc, PRUSS_INTC_SITR0, 0);
+	ti_pruss_reg_write(sc, PRUSS_INTC_SITR1, 0);
+
 	return (0);
 }
 
 static int
 ti_pruss_detach(device_t dev)
 {
-	struct ti_pruss_softc *sc;
-	int i;
+	struct ti_pruss_softc *sc = device_get_softc(dev);
+
+	ti_pruss_interrupts_clear(sc);
+
+	for (int i = 0; i < TI_PRUSS_HOST_IRQS; i++) {
+		ti_pruss_interrupts_enable( sc, i, false );
 
-	sc = device_get_softc(dev);
-	for (i = 0; i < TI_PRUSS_IRQS; i++) {
 		if (sc->sc_intr[i])
 			bus_teardown_intr(dev, sc->sc_irq_res[i], sc->sc_intr[i]);
 		if (sc->sc_irq_res[i])
 			bus_release_resource(dev, SYS_RES_IRQ,
 			    rman_get_rid(sc->sc_irq_res[i]),
 			    sc->sc_irq_res[i]);
+		knlist_clear(&sc->sc_irq_devs[i].sc_selinfo.si_note, 0);
+		mtx_lock(&sc->sc_irq_devs[i].sc_mtx);
+		if (!knlist_empty(&sc->sc_irq_devs[i].sc_selinfo.si_note))
+			printf("IRQ %d KQueue not empty!\n", i );
+		mtx_unlock(&sc->sc_irq_devs[i].sc_mtx);
+		knlist_destroy(&sc->sc_irq_devs[i].sc_selinfo.si_note);
+		mtx_destroy(&sc->sc_irq_devs[i].sc_mtx);
 	}
-	knlist_clear(&sc->sc_selinfo.si_note, 0);
-	knlist_destroy(&sc->sc_selinfo.si_note);
+
 	mtx_destroy(&sc->sc_mtx);
 	if (sc->sc_mem_res)
 		bus_release_resource(dev, SYS_RES_MEMORY, rman_get_rid(sc->sc_mem_res),
@@ -241,19 +655,38 @@ ti_pruss_intr(void *arg)
 	struct ti_pruss_irq_arg *iap = arg;
 	struct ti_pruss_softc *sc = iap->sc;
 	/*
-	 * Interrupts pr1_host_intr[0:7] are mapped to 
+	 * Interrupts pr1_host_intr[0:7] are mapped to
 	 * Host-2 to Host-9 of PRU-ICSS IRQ-controller.
 	 */
-	const int pru_int = iap->irq + 2;
+	const int pru_int = iap->irq + TI_PRUSS_PRU_IRQS;
 	const int pru_int_mask = (1 << pru_int);
+	const int pru_channel = sc->sc_irq_devs[pru_int].channel;
+	const int pru_event = sc->sc_irq_devs[pru_channel].event;
 
-	val = ti_pruss_reg_read(sc, PRUSS_AM33XX_INTC + PRUSS_INTC_HIER);
-	DPRINTF("interrupt %p, %d", sc, pru_int);
+	val = ti_pruss_reg_read(sc, PRUSS_INTC_HIER);
 	if (!(val & pru_int_mask))
 		return;
- 	ti_pruss_reg_write(sc, PRUSS_AM33XX_INTC + PRUSS_INTC_HIDISR, 
-	    pru_int);
-	KNOTE_UNLOCKED(&sc->sc_selinfo.si_note, pru_int);
+
+	ti_pruss_reg_write(sc, PRUSS_INTC_HIDISR, pru_int);
+	ti_pruss_reg_write(sc, PRUSS_INTC_SICR, pru_event);
+	ti_pruss_reg_write(sc, PRUSS_INTC_HIEISR, pru_int);
+
+	struct ti_pruss_irqsc* irq = &sc->sc_irq_devs[pru_channel];
+	size_t wr = irq->tstamps.ctl.idx;
+
+	struct timespec ts;
+	nanouptime(&ts);
+	irq->tstamps.ts[wr] = ts.tv_sec * 1000000000 + ts.tv_nsec;
+
+	if (++wr == TI_TS_ARRAY)
+		wr = 0;
+	atomic_add_32(&irq->tstamps.ctl.cnt, 1);
+
+	irq->tstamps.ctl.idx = wr;
+
+	KNOTE_UNLOCKED(&irq->sc_selinfo.si_note, pru_int);
+	wakeup(irq);
+	selwakeup(&irq->sc_selinfo);
 }
 
 static int
@@ -271,7 +704,7 @@ ti_pruss_mmap(struct cdev *cdev, vm_ooffset_t offset, vm_paddr_t *paddr,
 	struct ti_pruss_softc *sc = device_get_softc(dev);
 
 	if (offset > rman_get_size(sc->sc_mem_res))
-		return (-1);
+		return (ENOSPC);
 	*paddr = rman_get_start(sc->sc_mem_res) + offset;
 	*memattr = VM_MEMATTR_UNCACHEABLE;
 
@@ -280,31 +713,43 @@ ti_pruss_mmap(struct cdev *cdev, vm_ooffset_t offset, vm_paddr_t *paddr,
 
 static struct filterops ti_pruss_kq_read = {
 	.f_isfd = 1,
-	.f_detach = ti_pruss_kq_read_detach,
-	.f_event = ti_pruss_kq_read_event,
+	.f_detach = ti_pruss_irq_kqread_detach,
+	.f_event = ti_pruss_irq_kqevent,
 };
 
 static void
-ti_pruss_kq_read_detach(struct knote *kn)
+ti_pruss_irq_kqread_detach(struct knote *kn)
 {
-	struct ti_pruss_softc *sc = kn->kn_hook;
+	struct ti_pruss_irqsc *sc = kn->kn_hook;
 
 	knlist_remove(&sc->sc_selinfo.si_note, kn, 0);
 }
 
 static int
-ti_pruss_kq_read_event(struct knote *kn, long hint)
+ti_pruss_irq_kqevent(struct knote *kn, long hint)
 {
-	kn->kn_data = hint;
+    struct ti_pruss_irqsc* irq_sc;
+    int notify;
+
+    irq_sc = kn->kn_hook;
+
+    if (hint > 0)
+        kn->kn_data = hint - 2;
 
-	return (hint);
+    if (hint > 0 || irq_sc->last > 0)
+        notify = 1;
+    else
+        notify = 0;
+
+    irq_sc->last = hint;
+
+    return (notify);
 }
 
 static int
-ti_pruss_kqfilter(struct cdev *cdev, struct knote *kn)
+ti_pruss_irq_kqfilter(struct cdev *cdev, struct knote *kn)
 {
-	device_t dev = cdev->si_drv1;
-	struct ti_pruss_softc *sc = device_get_softc(dev);
+	struct ti_pruss_irqsc *sc = cdev->si_drv1;
 
 	switch (kn->kn_filter) {
 	case EVFILT_READ:
diff --git a/sys/arm/ti/ti_pruss.h b/sys/arm/ti/ti_pruss.h
index 4eea12e..44552a5 100644
--- a/sys/arm/ti/ti_pruss.h
+++ b/sys/arm/ti/ti_pruss.h
@@ -1,5 +1,6 @@
 /*-
  * Copyright (c) 2013 Rui Paulo <rpaulo@FreeBSD.org>
+ * Copyright (c) 2017 Manuel Stuehn
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -33,8 +34,22 @@
 #define	PRUSS_AM33XX_REV	0x4e82A900
 #define	PRUSS_AM33XX_INTC	0x20000
 
-#define PRUSS_INTC_HIER		0x1500
-#define PRUSS_INTC_HIDISR	0x0038
-#define PRUSS_INTC_HIPIR_BASE	0x0900
+#define PRUSS_INTC_GER			(PRUSS_AM33XX_INTC + 0x0010)
+#define PRUSS_INTC_SISR			(PRUSS_AM33XX_INTC + 0x0020)
+#define PRUSS_INTC_SICR			(PRUSS_AM33XX_INTC + 0x0024)
+#define PRUSS_INTC_EISR			(PRUSS_AM33XX_INTC + 0x0028)
+#define PRUSS_INTC_EICR			(PRUSS_AM33XX_INTC + 0x002C)
+#define PRUSS_INTC_HIEISR		(PRUSS_AM33XX_INTC + 0x0034)
+#define PRUSS_INTC_HIDISR		(PRUSS_AM33XX_INTC + 0x0038)
+#define PRUSS_INTC_SECR0		(PRUSS_AM33XX_INTC + 0x0280)
+#define PRUSS_INTC_SECR1		(PRUSS_AM33XX_INTC + 0x0284)
+#define PRUSS_INTC_CMR_BASE		(PRUSS_AM33XX_INTC + 0x0400)
+#define PRUSS_INTC_HMR_BASE		(PRUSS_AM33XX_INTC + 0x0800)
+#define PRUSS_INTC_HIPIR_BASE	(PRUSS_AM33XX_INTC + 0x0900)
+#define PRUSS_INTC_SIPR0		(PRUSS_AM33XX_INTC + 0x0D00)
+#define PRUSS_INTC_SIPR1		(PRUSS_AM33XX_INTC + 0x0D04)
+#define PRUSS_INTC_SITR0		(PRUSS_AM33XX_INTC + 0x0D80)
+#define PRUSS_INTC_SITR1		(PRUSS_AM33XX_INTC + 0x0D84)
+#define PRUSS_INTC_HIER		    (PRUSS_AM33XX_INTC + 0x1500)
 
 #endif /* _TI_PRUSS_H_ */