micro-ros zephyr - Fault during interrupt handling

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Hi @Jefecito, great user_namebtw, I am not sure if you have check this tutorial: https://github.com/maksimdrachov/zeph...

Regular Zephyr interrupts introduce some overhead which may be unacceptable for some low-latency use-cases.

Hi, @osilva. Yes, I saw this tutorial. BTW, it's a very good initiative. But, I am not using any of these types of interrupt. I am using GPIO interrupts, like this code below.

static const struct gpio_dt_spec button_a = GPIO_DT_SPEC_GET(DT_NODELABEL(buttona), gpios);
static struct gpio_callback button_a_cb;
struct device *gpio;
void button_a_pressed(const struct device *dev, struct gpio_callback *cb, uint32_t pins){
    gpio_pin_toggle(gpio,2);
}

void main(void){
    int ret;
    printk("Hello World! %s\n", CONFIG_BOARD);
    gpio=device_get_binding("GPIO_0");
    ret = gpio_pin_configure(gpio,2,GPIO_OUTPUT);
    ret = gpio_pin_configure_dt(&button_a,GPIO_INPUT | GPIO_PULL_UP);
    ret = gpio_pin_interrupt_configure_dt(&button_a,GPIO_INT_EDGE_TO_ACTIVE);
    gpio_init_callback(&button_a_cb, button_a_pressed, BIT(button_a.pin) );
    gpio_add_callback(button_a.port, &button_a_cb);
}

Yes you were clear it's for GPIO. Sorry I missed that. I don't have much experience in this area but it's something it's in my list to do to learn. Hopefully you find an answer soon, pls make sure to document so others may benefit as well.

Thank you. Yes, I will do it.

Maybe it is related to stack? a micro-ROS task uses a considerable amount of stack memory. It highly depends on the case. How long is the stack assigned to the Zephyr micro-ROS task?

No, the stack wasn't the problem. I just discovered what was happening. It seems my mistake while using the GPIO API. It turns out that Instead of using the functions gpio_pin_configure_dt(const struct gpio_dt_spec *spec, gpio_flags_t extra_flags) and gpio_pin_interrupt_configure_dt(const struct gpio_dt_spec *spec, gpio_flags_t flags), I decided to use gpio_pin_configure(const struct device * port, gpio_pin_t pin, gpio_flags_t flags) and gpio_pin_interrupt_configure(const struct device * port, gpio_pin_t pin, gpio_flags_t flags). The last ones receive a device struct as the first parameter instead of a gpio spec struct. It worked fine in Zephyr only but messed everything while working together with micro-ROS. Maybe it has caused some memory misallocation only reproduced when more memory is in use.

Anyway, thank you, Guys!