This makes it easier to automatically generate parts of the manager documentation in the future.
Update #3993. --- c-user/index.rst | 2 +- c-user/interrupt/background.rst | 106 ++++++++ .../directives.rst} | 251 ------------------ c-user/interrupt/index.rst | 15 ++ c-user/interrupt/introduction.rst | 37 +++ c-user/interrupt/operations.rst | 112 ++++++++ 6 files changed, 271 insertions(+), 252 deletions(-) create mode 100644 c-user/interrupt/background.rst rename c-user/{interrupt_manager.rst => interrupt/directives.rst} (61%) create mode 100644 c-user/interrupt/index.rst create mode 100644 c-user/interrupt/introduction.rst create mode 100644 c-user/interrupt/operations.rst diff --git a/c-user/index.rst b/c-user/index.rst index 51998bf..d955cc8 100644 --- a/c-user/index.rst +++ b/c-user/index.rst @@ -31,7 +31,7 @@ RTEMS Classic API Guide (|version|). scheduling_concepts initialization task_manager - interrupt_manager + interrupt/index clock/index timer_manager rate_monotonic_manager diff --git a/c-user/interrupt/background.rst b/c-user/interrupt/background.rst new file mode 100644 index 0000000..b626640 --- /dev/null +++ b/c-user/interrupt/background.rst @@ -0,0 +1,106 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR) + +Background +========== + +.. index:: interrupt processing + +Processing an Interrupt +----------------------- + +The interrupt manager allows the application to connect a function to a +hardware interrupt vector. When an interrupt occurs, the processor will +automatically vector to RTEMS. RTEMS saves and restores all registers which +are not preserved by the normal C calling convention for the target processor +and invokes the user's ISR. The user's ISR is responsible for processing the +interrupt, clearing the interrupt if necessary, and device specific +manipulation. + +.. index:: rtems_vector_number + +The ``rtems_interrupt_catch`` directive connects a procedure to an interrupt +vector. The vector number is managed using the ``rtems_vector_number`` data +type. + +The interrupt service routine is assumed to abide by these conventions and have +a prototype similar to the following: + +.. index:: rtems_isr + +.. code-block:: c + + rtems_isr user_isr( + rtems_vector_number vector + ); + +The vector number argument is provided by RTEMS to allow the application to +identify the interrupt source. This could be used to allow a single routine to +service interrupts from multiple instances of the same device. For example, a +single routine could service interrupts from multiple serial ports and use the +vector number to identify which port requires servicing. + +To minimize the masking of lower or equal priority level interrupts, the ISR +should perform the minimum actions required to service the interrupt. Other +non-essential actions should be handled by application tasks. Once the user's +ISR has completed, it returns control to the RTEMS interrupt manager which will +perform task dispatching and restore the registers saved before the ISR was +invoked. + +The RTEMS interrupt manager guarantees that proper task scheduling and +dispatching are performed at the conclusion of an ISR. A system call made by +the ISR may have readied a task of higher priority than the interrupted task. +Therefore, when the ISR completes, the postponed dispatch processing must be +performed. No dispatch processing is performed as part of directives which +have been invoked by an ISR. + +Applications must adhere to the following rule if proper task scheduling and +dispatching is to be performed: + +.. note:: + + The interrupt manager must be used for all ISRs which may be interrupted by + the highest priority ISR which invokes an RTEMS directive. + +Consider a processor which allows a numerically low interrupt level to +interrupt a numerically greater interrupt level. In this example, if an RTEMS +directive is used in a level 4 ISR, then all ISRs which execute at levels 0 +through 4 must use the interrupt manager. + +Interrupts are nested whenever an interrupt occurs during the execution of +another ISR. RTEMS supports efficient interrupt nesting by allowing the nested +ISRs to terminate without performing any dispatch processing. Only when the +outermost ISR terminates will the postponed dispatching occur. + +.. index:: interrupt levels + +RTEMS Interrupt Levels +---------------------- + +Many processors support multiple interrupt levels or priorities. The exact +number of interrupt levels is processor dependent. RTEMS internally supports +256 interrupt levels which are mapped to the processor's interrupt levels. For +specific information on the mapping between RTEMS and the target processor's +interrupt levels, refer to the Interrupt Processing chapter of the Applications +Supplement document for a specific target processor. + +.. index:: disabling interrupts + +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 all maskable +interrupts before the execution of the section and restores them to the +previous level upon completion of the section. RTEMS has been optimized to +ensure that interrupts are disabled for a minimum length of time. The maximum +length of time interrupts are disabled by RTEMS is processor dependent and is +detailed in the Timing Specification chapter of the Applications Supplement +document for a specific target processor. + +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. diff --git a/c-user/interrupt_manager.rst b/c-user/interrupt/directives.rst similarity index 61% rename from c-user/interrupt_manager.rst rename to c-user/interrupt/directives.rst index 5eb7270..95181db 100644 --- a/c-user/interrupt_manager.rst +++ b/c-user/interrupt/directives.rst @@ -2,257 +2,6 @@ .. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR) -.. index:: interrupts - -Interrupt Manager -***************** - -Introduction -============ - -Any real-time executive must provide a mechanism for quick response to -externally generated interrupts to satisfy the critical time constraints of the -application. The interrupt manager provides this mechanism for RTEMS. This -manager permits quick interrupt response times by providing the critical -ability to alter task execution which allows a task to be preempted upon exit -from an ISR. The interrupt manager includes the following directive: - -- rtems_interrupt_catch_ - Establish an ISR - -- rtems_interrupt_disable_ - Disable Interrupts - -- rtems_interrupt_enable_ - Restore Interrupt Level - -- rtems_interrupt_flash_ - Flash Interrupt - -- rtems_interrupt_local_disable_ - Disable Interrupts on Current Processor - -- rtems_interrupt_local_enable_ - Restore Interrupt Level on Current Processor - -- rtems_interrupt_lock_initialize_ - Initialize an ISR Lock - -- rtems_interrupt_lock_acquire_ - Acquire an ISR Lock - -- rtems_interrupt_lock_release_ - Release an ISR Lock - -- rtems_interrupt_lock_acquire_isr_ - Acquire an ISR Lock from ISR - -- rtems_interrupt_lock_release_isr_ - Release an ISR Lock from ISR - -- rtems_interrupt_is_in_progress_ - Is an ISR in Progress - -Background -========== - -.. index:: interrupt processing - -Processing an Interrupt ------------------------ - -The interrupt manager allows the application to connect a function to a -hardware interrupt vector. When an interrupt occurs, the processor will -automatically vector to RTEMS. RTEMS saves and restores all registers which -are not preserved by the normal C calling convention for the target processor -and invokes the user's ISR. The user's ISR is responsible for processing the -interrupt, clearing the interrupt if necessary, and device specific -manipulation. - -.. index:: rtems_vector_number - -The ``rtems_interrupt_catch`` directive connects a procedure to an interrupt -vector. The vector number is managed using the ``rtems_vector_number`` data -type. - -The interrupt service routine is assumed to abide by these conventions and have -a prototype similar to the following: - -.. index:: rtems_isr - -.. code-block:: c - - rtems_isr user_isr( - rtems_vector_number vector - ); - -The vector number argument is provided by RTEMS to allow the application to -identify the interrupt source. This could be used to allow a single routine to -service interrupts from multiple instances of the same device. For example, a -single routine could service interrupts from multiple serial ports and use the -vector number to identify which port requires servicing. - -To minimize the masking of lower or equal priority level interrupts, the ISR -should perform the minimum actions required to service the interrupt. Other -non-essential actions should be handled by application tasks. Once the user's -ISR has completed, it returns control to the RTEMS interrupt manager which will -perform task dispatching and restore the registers saved before the ISR was -invoked. - -The RTEMS interrupt manager guarantees that proper task scheduling and -dispatching are performed at the conclusion of an ISR. A system call made by -the ISR may have readied a task of higher priority than the interrupted task. -Therefore, when the ISR completes, the postponed dispatch processing must be -performed. No dispatch processing is performed as part of directives which -have been invoked by an ISR. - -Applications must adhere to the following rule if proper task scheduling and -dispatching is to be performed: - -.. note:: - - The interrupt manager must be used for all ISRs which may be interrupted by - the highest priority ISR which invokes an RTEMS directive. - -Consider a processor which allows a numerically low interrupt level to -interrupt a numerically greater interrupt level. In this example, if an RTEMS -directive is used in a level 4 ISR, then all ISRs which execute at levels 0 -through 4 must use the interrupt manager. - -Interrupts are nested whenever an interrupt occurs during the execution of -another ISR. RTEMS supports efficient interrupt nesting by allowing the nested -ISRs to terminate without performing any dispatch processing. Only when the -outermost ISR terminates will the postponed dispatching occur. - -.. index:: interrupt levels - -RTEMS Interrupt Levels ----------------------- - -Many processors support multiple interrupt levels or priorities. The exact -number of interrupt levels is processor dependent. RTEMS internally supports -256 interrupt levels which are mapped to the processor's interrupt levels. For -specific information on the mapping between RTEMS and the target processor's -interrupt levels, refer to the Interrupt Processing chapter of the Applications -Supplement document for a specific target processor. - -.. index:: disabling interrupts - -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 all maskable -interrupts before the execution of the section and restores them to the -previous level upon completion of the section. RTEMS has been optimized to -ensure that interrupts are disabled for a minimum length of time. The maximum -length of time interrupts are disabled by RTEMS is processor dependent and is -detailed in the Timing Specification chapter of the Applications Supplement -document for a specific target processor. - -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. - -Operations -========== - -Establishing an ISR -------------------- - -The ``rtems_interrupt_catch`` directive establishes an ISR for the system. The -address of the ISR and its associated CPU vector number are specified to this -directive. This directive installs the RTEMS interrupt wrapper in the -processor's Interrupt Vector Table and the address of the user's ISR in the -RTEMS' Vector Table. This directive returns the previous contents of the -specified vector in the RTEMS' Vector Table. - -Directives Allowed from an ISR ------------------------------- - -Using the interrupt manager ensures that RTEMS knows when a directive is being -called from an ISR. The ISR may then use system calls to synchronize itself -with an application task. The synchronization may involve messages, events or -signals being passed by the ISR to the desired task. Directives invoked by an -ISR must operate only on objects which reside on the local node. The following -is a list of RTEMS system calls that may be made from an ISR: - -- Task Management - Although it is acceptable to operate on the RTEMS_SELF task (e.g. the - currently executing task), while in an ISR, this will refer to the - interrupted task. Most of the time, it is an application implementation - error to use RTEMS_SELF from an ISR. - - - rtems_task_suspend - - rtems_task_resume - -- Interrupt Management - - - rtems_interrupt_enable - - rtems_interrupt_disable - - rtems_interrupt_flash - - rtems_interrupt_lock_acquire - - rtems_interrupt_lock_release - - rtems_interrupt_lock_acquire_isr - - rtems_interrupt_lock_release_isr - - rtems_interrupt_is_in_progress - - rtems_interrupt_catch - -- Clock Management - - - rtems_clock_set - - rtems_clock_get_tod - - rtems_clock_get_tod_timeval - - rtems_clock_get_seconds_since_epoch - - rtems_clock_get_ticks_per_second - - rtems_clock_get_ticks_since_boot - - rtems_clock_get_uptime - -- Timer Management - - - rtems_timer_cancel - - rtems_timer_reset - - rtems_timer_fire_after - - rtems_timer_fire_when - - rtems_timer_server_fire_after - - rtems_timer_server_fire_when - -- Event Management - - - rtems_event_send - - rtems_event_system_send - - rtems_event_transient_send - -- Semaphore Management - - - rtems_semaphore_release - -- Message Management - - - rtems_message_queue_broadcast - - rtems_message_queue_send - - rtems_message_queue_urgent - -- Signal Management - - - rtems_signal_send - -- Dual-Ported Memory Management - - - rtems_port_external_to_internal - - rtems_port_internal_to_external - -- IO Management - The following services are safe to call from an ISR if and only if - the device driver service invoked is also safe. The IO Manager itself - is safe but the invoked driver entry point may or may not be. - - - rtems_io_initialize - - rtems_io_open - - rtems_io_close - - rtems_io_read - - rtems_io_write - - rtems_io_control - -- Fatal Error Management - - - rtems_fatal - - rtems_fatal_error_occurred - -- Multiprocessing - - - rtems_multiprocessing_announce - Directives ========== diff --git a/c-user/interrupt/index.rst b/c-user/interrupt/index.rst new file mode 100644 index 0000000..e1c529e --- /dev/null +++ b/c-user/interrupt/index.rst @@ -0,0 +1,15 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +.. Copyright (C) 2020 embedded brains GmbH (http://www.embedded-brains.de) + +.. index:: interrupts + +Interrupt Manager +***************** + +.. toctree:: + + introduction + background + operations + directives diff --git a/c-user/interrupt/introduction.rst b/c-user/interrupt/introduction.rst new file mode 100644 index 0000000..272eba2 --- /dev/null +++ b/c-user/interrupt/introduction.rst @@ -0,0 +1,37 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR) + +Introduction +============ + +Any real-time executive must provide a mechanism for quick response to +externally generated interrupts to satisfy the critical time constraints of the +application. The interrupt manager provides this mechanism for RTEMS. This +manager permits quick interrupt response times by providing the critical +ability to alter task execution which allows a task to be preempted upon exit +from an ISR. The interrupt manager includes the following directive: + +- :ref:`rtems_interrupt_catch` + +- :ref:`rtems_interrupt_disable` + +- :ref:`rtems_interrupt_enable` + +- :ref:`rtems_interrupt_flash` + +- :ref:`rtems_interrupt_local_disable` + +- :ref:`rtems_interrupt_local_enable` + +- :ref:`rtems_interrupt_lock_initialize` + +- :ref:`rtems_interrupt_lock_acquire` + +- :ref:`rtems_interrupt_lock_release` + +- :ref:`rtems_interrupt_lock_acquire_isr` + +- :ref:`rtems_interrupt_lock_release_isr` + +- :ref:`rtems_interrupt_is_in_progress` diff --git a/c-user/interrupt/operations.rst b/c-user/interrupt/operations.rst new file mode 100644 index 0000000..67988c3 --- /dev/null +++ b/c-user/interrupt/operations.rst @@ -0,0 +1,112 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR) + +Operations +========== + +Establishing an ISR +------------------- + +The ``rtems_interrupt_catch`` directive establishes an ISR for the system. The +address of the ISR and its associated CPU vector number are specified to this +directive. This directive installs the RTEMS interrupt wrapper in the +processor's Interrupt Vector Table and the address of the user's ISR in the +RTEMS' Vector Table. This directive returns the previous contents of the +specified vector in the RTEMS' Vector Table. + +Directives Allowed from an ISR +------------------------------ + +Using the interrupt manager ensures that RTEMS knows when a directive is being +called from an ISR. The ISR may then use system calls to synchronize itself +with an application task. The synchronization may involve messages, events or +signals being passed by the ISR to the desired task. Directives invoked by an +ISR must operate only on objects which reside on the local node. The following +is a list of RTEMS system calls that may be made from an ISR: + +- Task Management + Although it is acceptable to operate on the RTEMS_SELF task (e.g. the + currently executing task), while in an ISR, this will refer to the + interrupted task. Most of the time, it is an application implementation + error to use RTEMS_SELF from an ISR. + + - rtems_task_suspend + - rtems_task_resume + +- Interrupt Management + + - rtems_interrupt_enable + - rtems_interrupt_disable + - rtems_interrupt_flash + - rtems_interrupt_lock_acquire + - rtems_interrupt_lock_release + - rtems_interrupt_lock_acquire_isr + - rtems_interrupt_lock_release_isr + - rtems_interrupt_is_in_progress + - rtems_interrupt_catch + +- Clock Management + + - rtems_clock_set + - rtems_clock_get_tod + - rtems_clock_get_tod_timeval + - rtems_clock_get_seconds_since_epoch + - rtems_clock_get_ticks_per_second + - rtems_clock_get_ticks_since_boot + - rtems_clock_get_uptime + +- Timer Management + + - rtems_timer_cancel + - rtems_timer_reset + - rtems_timer_fire_after + - rtems_timer_fire_when + - rtems_timer_server_fire_after + - rtems_timer_server_fire_when + +- Event Management + + - rtems_event_send + - rtems_event_system_send + - rtems_event_transient_send + +- Semaphore Management + + - rtems_semaphore_release + +- Message Management + + - rtems_message_queue_broadcast + - rtems_message_queue_send + - rtems_message_queue_urgent + +- Signal Management + + - rtems_signal_send + +- Dual-Ported Memory Management + + - rtems_port_external_to_internal + - rtems_port_internal_to_external + +- IO Management + The following services are safe to call from an ISR if and only if + the device driver service invoked is also safe. The IO Manager itself + is safe but the invoked driver entry point may or may not be. + + - rtems_io_initialize + - rtems_io_open + - rtems_io_close + - rtems_io_read + - rtems_io_write + - rtems_io_control + +- Fatal Error Management + + - rtems_fatal + - rtems_fatal_error_occurred + +- Multiprocessing + + - rtems_multiprocessing_announce -- 2.26.2 _______________________________________________ devel mailing list devel@rtems.org http://lists.rtems.org/mailman/listinfo/devel