Interrupt handlers and RTEMS Queues (Breaking the Rules)
joel.sherrill at OARcorp.com
Mon May 7 12:14:21 UTC 2001
John Bebbington wrote:
> A quick question about the effect of not following the restrictions given in
> the RTEMS users manual regarding Interrupt Service Routines (ISRs) using
> RTEMS queues and NOT returning through the RTEMS scheduler on RTE.
> Given the following scenario:
> There are 2 ISRs (i.e. level 5 and level 6 hardware priority) that write
> data asychn. to the same RTEMS Queue but these ISRs were not configured in
> the vector table by using the RTEMS directive "rtems_interrupt_catch".
> In addition there is a task waiting to read from the same Queue but blocked
> when the queue is empty.
One thought comes to mind ... don't do that. :)
If you do not install the ISRs using rtems_interrupt_catch, then RTEMS
does not know about the ISRs. Consequently, there is no task scheduling
at the end of the ISR and no notion of nest level to properly account
interrupt nesting. The most obvious problem in this scenario is that a
message send from either of these ISRs that readies a task will think
it is OK to preemptively context switch IMMEDIATELY. This is BAD!!
When you ready a task or tasks in an ISR, the preemptive context switch
must be deferred until the end of the ISR. Context switches occur
tasks -- not between an ISR and a task. So even when you think
you go from preemptively from an ISR to a new task there is actually a
short period of time when the old task runs. This is VERY normal --
ticker does this. The execution order is:
Init -> TA1 (via delete self)
TA1 -> TA2 (via delay)
TA2 -> TA3 (via delay)
TA3 -> IDLE (via delay)
... 5 second pass ...
IDLE -> TA1 (at clock tick)
Note that the call to rtems_clock_tick in the ISR actually unblocked
TA1 and caused the preempt but really IDLE switched to TA1. This is
the "_ISR_Dispatch" path in the cpu_asm.S files.
> 1) Is the writing to the RTEMS queue still protected so that the level 6 ISR
> may interrupt the level 5 ISR while the level 5 was performing a write to
> the RTEMS Queue? i.e. is the queues integrity still protected regardless of
> not using the RTEMS directive "rtems_interrupt_catch"?
The rationale behind this statement is that it is POSSIBLE to have
ISRs that are the highest priority in the system. But those ISRs can
use RTEMS services.
> 2) Would the waiting task (providing it was the highest priority task in the
> system) get "readied and start" on the next occurance of the RTEMS system
> tick? For example if the tick was 3.125 ms and the ISR 5 wrote 3 messages in
> the queue since the last tick, would the next tick handler recognise there
> are entries in the queue and therefore ready the waiting task?
I THINK it would probably work this way if no other RTEMS scheduling
opportunities intervened. But there is no guarantee that the send
be properly intermeshed with other operations. But it was NOT designed
to work this way.
> The reason for the 2 questions is that due to performance a high interrupt
> frequency we would like to try to optimize the amount of cpu time used in
> "house keeping" by not having to always go through the RTEMS scheduler on
> RTE. At the same time we want to be able to use rtems queues, even at the
> cost of having a "reading" at only the system tick frequency.
I THINK you can circumvent the procedure by doing this:
These say "don't schedule until I tell you to" and "I am willing to
schedule but I am NOT doing calling the scheduler".
WARNING: This is completely untested and beyond the normal operational
patterns RTEMS was initially designed for. I think that the above will
work but without some time on a whiteboard to really think through it
and give you better rules, I am not doing more than saying what you
are doing now is dangerously broken and this is better than that.
> Any comments would be gratefully received.
Not knowing your CPU offhand, I can say that you might be
lucky that this is working. :) One some architectures the distinction
between task and ISR mode is so distinct that context switching out of
an ISR without getting back to task space is all but instanteously
> John Bebbington.
Joel Sherrill, Ph.D. Director of Research & Development
joel at OARcorp.com On-Line Applications Research
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