Real-Time Concepts for Embedded Systems

Figure 10.2: System-wide priority scheme.

10.5 Processing General Exceptions

Having introduced the fundamentals of exceptions and external interrupts, it is time to discuss processing exceptions and external interrupts. The overall exception handling mechanism is similar to the mechanism for interrupt handling. In a simplified view, the processor takes the following steps when an exception or an external interrupt is raised:

· Save the current processor state information.

· Load the exception or interrupt handling function into the program counter.

· Transfer control to the handler function and begin execution.

· Restore the processor state information after the handler function completes.

· Return from the exception or interrupt and resume previous execution.

A typical handler function does the following:

· Switch to an exception frame or an interrupt stack.

· Save additional processor state information.

· Mask the current interrupt level but allow higher priority interrupts to occur.

· Perform a minimum amount of work so that a dedicated task can complete the main processing.

10.5.1 Installing Exception Handlers

Exception service routines (ESRs) and interrupt service routines (ISRs) must be installed into the system before exceptions and interrupts can be handled. The installation of an ESR or ISR requires knowledge of the exception and interrupt table (called the general exception table).

The general exception table, as exemplified in Table 10.1, has a vector address column, which is sometimes also called the vector table. Each vector address points to the beginning of an ESR or ISR. Installing an ESR or ISR requires replacing the appropriate vector table entry with the address of the desired ESR or ISR.

The embedded system startup code typically installs the ESRs at the time of system initialization. Hardware device drivers typically install the appropriate ISRs at the time of driver initialization.

If either an exception or an interrupt occurs when no associated handler function is installed, the system suffers a system fault and may halt. To prevent this problem, it is common for an embedded RTOS to install default handler functions (i.e., functions that perform small amounts of work to ensure the proper reception of and the proper return from exceptions) into the vector table for every possible exception and interrupt in the system. Many RTOSes provide a mechanism that the embedded systems programmer can use to overwrite the default handler function with his or her own or to allow the programmer to insert further processing in addition to the default actions. If allowed, the embedded systems programmer can code specific actions before and after the default action is completed.

In this book, the general term service routine means either an ESR or an ISR when the distinction is not important.

10.5.2 Saving Processor States

When an exception or interrupt comes into context and before invoking the service routine, the processor must perform a set of operations to ensure a proper return of program execution after the service routine is complete. Just as tasks save information in task control blocks, exception and interrupt service routines also need to store blocks of information, called processor state information, somewhere in memory. The processor typically saves a minimum amount of its state information, including the status register (SR) that contains the current processor execution status bits and the program counter (PC) that contains the returning address, which is the instruction to resume execution after the exception. The ESR or the ISR, however, must do more to preserve more complete state information in order to properly resume the program execution that the exception preempted. A later section discusses this issue in more detail.

So, whose stack is used during the exception and interrupt processing?

Stacks are used for the storage requirement of saving processor state information. In an embedded operating system environment, a stack is a statically reserved block of memory and an active dynamic pointer called a stack pointer, as shown in Figure 10.3. In some embedded architectures, such as Motorola's 68000 microprocessors, two separate stacks-the user stack (USP) and the supervisor stack (SSP)-are used. The USP is used when the processor executes in non-privileged mode. The SSP is used when the processor executes in privileged mode.

Figure 10.3: Store processor state information onto stack.

Section 10.3.1, 'Internal Errors and Special Conditions Management' on page 145, discusses processor execution modes. On this type of architecture, the processor consciously selects SSP to store its state information during general exception handling. While some architectures offer special support for stack switching, the balance of this chapter assumes a simple environment with just one run-time stack.

As data is saved on the stack, the stack pointer is incremented to reflect the number of bytes copied onto the stack. This process is often called pushing values on the stack. When values are copied off the stack, the stack pointer is decremented by the equivalent number of bytes copied from the stack. This process is called popping values off the stack. The stack pointer always points to the first valid location in order to store data onto the stack. For purposes of this book, the stack grows up; however, a stack can grow in the opposite direction. Note that a typical stack does not store identifiers for the contents. Stack users are required to push and pop items onto and off the stack in a symmetric order. If this rule is not followed during exception or interrupt processing, unintended results are likely to occur.

As Chapter 5 discusses, in an embedded operating system environment, all task objects have a task control block (TCB). During task creation, a block of memory is reserved as a stack for task use, as shown in Figure 10.4. High-level programming languages, such as C and C++, typically use the stack space as the primary vehicle to pass variables between functions and objects of the language.

Figure 10.4: Task TCB and stack.

The active stack pointer (SP) is reinitialized to that of the active task each time a task context switch occurs. The underlying real-time kernel performs this work. As mentioned earlier, the processor uses whichever stack the SP points to for storing its minimum state information before invoking the exception handler.

Although not all embedded architectures implement exception or interrupt processing in the same way, the general idea of sizing and reserving exception stack space is the same. In many cases, when general exceptions occur and a task is running, the task's stack is used to handle the exception or interrupt. If a lower priority ESR or ISR is running at the time of exception or interrupt, whichever stack the ESR or ISR is using is also the stack used