Default Interrupt Handling

Most asynchronous external interrupt vectors will point to a default interrupt VSR which decodes the actual interrupt being delivered from the interrupt controller and invokes the appropriate ISR.

The default interrupt VSR has a number of responsibilities if it is going to interact with the Kernel cleanly and allow interrupts to cause thread preemption.

To support this VSR an ISR vector table is needed. For each valid vector three pointers need to be stored: the ISR, its data pointer and an opaque (to the HAL) interrupt object pointer needed by the kernel. It is implementation defined whether these are stored in a single table of triples, or in three separate tables.

The VSR follows the following approximate plan:

  1. Save the CPU state. In non-debug configurations, it may be possible to get away with saving less than the entire machine state. The option CYGDBG_HAL_COMMON_INTERRUPTS_SAVE_MINIMUM_CONTEXT is supported in some targets to do this.

  2. Increment the kernel scheduler lock. This is a static member of the Cyg_Scheduler class, however it has also been aliased to cyg_scheduler_sched_lock so that it can be accessed from assembly code.

  3. (Optional) Switch to an interrupt stack if not already running on it. This allows nested interrupts to be delivered without needing every thread to have a stack large enough to take the maximum possible nesting. It is implementation defined how to detect whether this is a nested interrupt but there are two basic techniques. The first is to inspect the stack pointer and switch only if it is not currently within the interrupt stack range; the second is to maintain a counter of the interrupt nesting level and switch only if it is zero. The option CYGIMP_HAL_COMMON_INTERRUPTS_USE_INTERRUPT_STACK controls whether this happens.

  4. Decode the actual external interrupt being delivered from the interrupt controller. This will yield the ISR vector number. The code to do this usually needs to come from the variant or platform HAL, so is usually present in the form of a macro or procedure callout.

  5. (Optional) Re-enable interrupts to permit nesting. At this point we can potentially allow higher priority interrupts to occur. It depends on the interrupt architecture of the CPU and platform whether more interrupts will occur at this point, or whether they will only be delivered after the current interrupt has been acknowledged (by a call to HAL_INTERRUPT_ACKNOWLEDGE() in the ISR).

  6. Using the ISR vector number as an index, retrieve the ISR pointer and its data pointer from the ISR vector table.

  7. Construct a C call stack frame. This may involve making stack space for call frames, and arguments, and initializing the back pointers to halt a GDB backtrace operation.

  8. Call the ISR, passing the vector number and data pointer. The vector number and a pointer to the saved state should be preserved across this call, preferably by storing them in registers that are defined to be callee-saved by the calling conventions.

  9. If this is an un-nested interrupt and a separate interrupt stack is being used, switch back to the interrupted thread's own stack.

  10. Use the saved ISR vector number to get the interrupt object pointer from the ISR vector table.

  11. Call interrupt_end() passing it the return value from the ISR, the interrupt object pointer and a pointer to the saved CPU state. This function is implemented by the Kernel and is responsible for finishing off the interrupt handling. Specifically, it may post a DSR depending on the ISR return value, and will decrement the scheduler lock. If the lock is zeroed by this operation then any posted DSRs may be called and may in turn result in a thread context switch.

  12. The return from interrupt_end() may occur some time after the call. Many other threads may have executed in the meantime. So here all we may do is restore the machine state and resume execution of the interrupted thread. Depending on the architecture, it may be necessary to disable interrupts again for part of this.

The detailed order of these steps may vary slightly depending on the architecture, in particular where interrupts are enabled and disabled.

2017-02-09
Documentation license for this page: Open Publication License