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@c
@c COPYRIGHT (c) 1988-2002.
@c On-Line Applications Research Corporation (OAR).
@c All rights reserved.
@c
@c $Id$
@c
@chapter Interrupt Processing
@section Introduction
Different types of processors respond to the
occurrence of an interrupt in its own unique fashion. In
addition, each processor type provides a control mechanism to
allow the proper handling of an interrupt. The processor
dependent response to the interrupt which modifies the execution
state and results in the modification of the execution stream.
This modification usually requires that an interrupt handler
utilize the provided control mechanisms to return to the normal
processing stream. Although RTEMS hides many of the processor
dependent details of interrupt processing, it is important to
understand how the RTEMS interrupt manager is mapped onto the
processor's unique architecture. Discussed in this chapter are
the the processor's response and control mechanisms as they
pertain to RTEMS.
@section Vectoring of Interrupt Handler
Upon receipt of an interrupt the i960CA
automatically performs the following actions:
@itemize @bullet
@item saves the local register set,
@item sets the Frame Pointer (FP) to point to the interrupt
stack,
@item increments the FP by sixteen (16) to make room for the
Interrupt Record,
@item saves the current values of the arithmetic-controls (AC)
register, the process-controls (PC) register, and the interrupt
vector number are saved in the Interrupt Record,
@item the CPU sets the Instruction Pointer (IP) to the address
of the first instruction in the interrupt handler,
@item the return-status field of the Previous Frame Pointer
(PFP or R0) register is set to interrupt return,
@item sets the PC state bit to interrupted,
@item sets the current interrupt disable level in the PC to
the level of the current interrupt, and
@item disables tracing.
@end itemize
A nested interrupt is processed similarly by the
i960CA with the exception that the Frame Pointer (FP) already
points to the interrupt stack. This means that the FP is NOT
overwritten before space for the Interrupt Record is allocated.
The state flag bit of the saved PC register in the
Interrupt Record is examined by RTEMS to determine when an outer
most interrupt is being exited. Therefore, the user application
code MUST NOT modify this bit.
@section Interrupt Record
The structure of the Interrupt Record for the i960CA
which is placed on the interrupt stack by the processor in
response to an interrupt is as follows:
@ifset use-ascii
@example
@group
+---------------------------+
| Saved Process Controls | NFP-16
+---------------------------+
| Saved Arithmetic Controls | NFP-12
+---------------------------+
| UNUSED | NFP-8
+---------------------------+
| UNUSED | NFP-4
+---------------------------+
@end group
@end example
@end ifset
@ifset use-tex
@sp 1
@tex
\centerline{\vbox{\offinterlineskip\halign{
\strut\vrule#&
\hbox to 2.00in{\enskip\hfil#\hfil}&
\vrule#&
\hbox to 1.00in{\enskip\hfil#\hfil}
\cr
\multispan{3}\hrulefill\cr
& Saved Process Controls && NFP-16\cr
\multispan{3}\hrulefill\cr
& Saved Arithmetic Controls && NFP-12\cr
\multispan{3}\hrulefill\cr
& UNUSED && NFP-8\cr
\multispan{3}\hrulefill\cr
& UNUSED && NFP-4\cr
\multispan{3}\hrulefill\cr
}}\hfil}
@end tex
@end ifset
@ifset use-html
@html
<CENTER>
<TABLE COLS=2 WIDTH="40%" BORDER=2>
<TR><TD ALIGN=center><STRONG>Saved Process Controls</STRONG></TD>
<TD ALIGN=center>NFP-16</TD></TR>
<TR><TD ALIGN=center><STRONG>Saved Arithmetic Controls</STRONG></TD>
<TD ALIGN=center>NFP-12</TD></TR>
<TR><TD ALIGN=center><STRONG>UNUSED</STRONG></TD>
<TD ALIGN=center>NFP-8</TD></TR>
<TR><TD ALIGN=center><STRONG>UNUSED</STRONG></TD>
<TD ALIGN=center>NFP-4</TD></TR>
</TABLE>
</CENTER>
@end html
@end ifset
@section Interrupt Levels
Thirty-two levels (0-31) of interrupt priorities are
supported by the i960CA microprocessor with level thirty-one
(31) being the highest priority. Level zero (0) indicates that
interrupts are fully enabled. Interrupt requests for interrupts
with priorities less than or equal to the current interrupt mask
level are ignored.
Although RTEMS supports 256 interrupt levels, the
i960CA only supports thirty-two. RTEMS interrupt levels 0
through 31 directly correspond to i960CA interrupt levels. All
other RTEMS interrupt levels are undefined and their behavior is
unpredictable.
@section Disabling of Interrupts by RTEMS
During the execution of directive calls, critical
sections of code may be executed. When these sections are
encountered, RTEMS disables interrupts to level thirty-one (31)
before the execution of this section and restores them to the
previous level upon completion of the section. RTEMS has been
optimized to insure that interrupts are disabled for less than
RTEMS_MAXIMUM_DISABLE_PERIOD microseconds on a
RTEMS_MAXIMUM_DISABLE_PERIOD_MHZ Mhz i960CA with zero wait states.
These numbers will vary based the number of wait states and
processor speed present on the target board. [NOTE: This
calculation was most recently performed for Release
RTEMS_RELEASE_FOR_MAXIMUM_DISABLE_PERIOD.]
Non-maskable interrupts (NMI) cannot be disabled, and
ISRs which execute at this level MUST NEVER issue RTEMS system
calls. If a directive is invoked, unpredictable results may
occur due to the inability of RTEMS to protect its critical
sections. However, ISRs that make no system calls may safely
execute as non-maskable interrupts.
@section Register Cache Flushing
The i960CA version of the RTEMS interrupt manager is
optimized to insure that the flushreg instruction is only
executed when a context switch is necessary. The flushreg
instruction flushes the i960CA register set cache and takes (14
+ 23 * number of sets flushed) cycles to execute. As the i960CA
supports caching of from five to sixteen register sets, this
instruction takes from 129 to 382 cycles (3.90 to 11.57
microseconds at 33 Mhz) to execute given no wait state memory.
RTEMS flushes the register set cache only at the conclusion of
the outermost ISR when a context switch is necessary. The
register set cache will not be flushed as part of processing a
nested interrupt or when a context switch is not necessary.
This optimization is essential to providing high-performance
interrupt management on the i960CA.
@section Interrupt Stack
On the i960CA, RTEMS allocates the interrupt stack
from the Workspace Area. The amount of memory allocated for the
interrupt stack is determined by the interrupt_stack_size field
in the CPU Configuration Table. During the initialization
process, RTEMS will install its interrupt stack.
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