CN100535879C - Built-in real-time system interrupt handling device and method thereof - Google Patents
Built-in real-time system interrupt handling device and method thereof Download PDFInfo
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- CN100535879C CN100535879C CNB2007101486017A CN200710148601A CN100535879C CN 100535879 C CN100535879 C CN 100535879C CN B2007101486017 A CNB2007101486017 A CN B2007101486017A CN 200710148601 A CN200710148601 A CN 200710148601A CN 100535879 C CN100535879 C CN 100535879C
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Abstract
The invention provides an interruption process device for embedded real-time systems; the device comprises an interruption response module, to perform interruption process after an interruption signal is triggered, in order to trigger a base layer interruption callback process module; a base layer interruption callback process module, to perform process according to interruption types; the interruption process results will be released into an interruption muff-coupling layer awaiting task process module through a synchronism mechanism and a task queue; the interruption muff-coupling layer awaiting task process module, to acquire task under process from the interruption task queue, search a muff-coupling layer callback function list, so as to perform interruption assortment and process. An upper-layered interruption callback initialization module, through upper-layered trigger calling through an embedded real-time operation system, performs initialization and registration operation for a muff-coupling layer callback function list. The invention also provides an interruption process method for embedded real-time systems. The invention can guarantee real-time performances and stability of the system.
Description
Technical field
The present invention relates to the embedded system field, more particularly, relate to a kind of device and method of embedded real time system Interrupt Process.
Background technology
Along with developing rapidly of embedded technology, embedded real-time operating system is applied in every field such as industrial automation, telecommunications, household electrical appliances just more and more widely.Simultaneously, the platform of embedded OS operation is also more and more various, and the processing of various interrupt sources is also become increasingly complex.In this case, in order to guarantee system stability and the real-time of embedded platform in the handling interrupt process, interrupt processing technology originally is constantly development thereupon also.
Be used for the embedded real time system interruption processing method at present and mainly comprise following flow process: (1) hardware device produces look-at-me, and report interruptable controller, by interruptable controller carry out that interrupt priority level is judged and shielding control after, produce interrupt trigger signal again and report CPU (central processing unit); (2) CPU searches interrupt vector table according to corresponding interrupt vector again, thereby jumps to ISR (Interrupt Service Routine), begins to carry out the interrupt response code that the user sets and carries out Interrupt Process, and obtain the relevant information of interruption; (3) in the Interrupt Service Routine of bottom, call the call back function of upper strata registration, carry out the processing or the professional distribution of upper strata interrupting service, after bottom interrupts executing in the context code on upper strata, interrupt returning.For example adopt the central processing unit of this treatment scheme to comprise that the model that Intel company makes is the processor of PentiumII, PPC8270 processor of Motorola Inc. or the like.
But more and more diversified at the equipment that articulates interruption, that embedded platform becomes increasingly complex today, the interruption processing method of existing embedded real time system is being faced with various challenges aspect stability and the real-time.At first, if certain device interrupt is too frequent, perhaps because certain fault can't in time be removed interruption, after CPU withdraws from the interrupt response function, can enter once more again immediately, go round and begin again, will be in a kind of endless loop state for preemptive type operating system CPU, can't handle other thing again, finally cause the kernel work queue to be overflowed or house dog is overflowed.For example, the frequent interruption that produces of light mouth can cause its buttcover plate handling interrupt always, makes other task can not get scheduling, if this situation occurs when single board starting, can cause the veneer process initiation overtime, and veneer can't start successful serious problems.Secondly, handle quite complicated interruption, finish, then can cause its processing time long if a complicated interrupt event work of treatment is placed in the bottom interrupt response function for those.And the interrupt response processing time is long, can influence the timely response of CPU to other interrupt event, can have a strong impact on the stability and the real-time of system in some cases.
Existing patent documentation comprises: number of patent application is the Chinese patent application " component embedded operation system interrupt implementation method " of CN200610154795.7 and the United States Patent (USP) " Interrupt optimization using time betweensucceeding peripheral component events " that the patent No. is US6574694 (utilize time interval of peripherals incident interrupt optimizing method).
The CN200610154795.7 Chinese patent application has the following disadvantages: though this patent is from the angle of kernel software engineering management, adopt the componentization technology to realize the embedded OS Interrupt Process, but it has increased the processing time in interrupting context, increased the complexity of system, thereby influence the real-time response of CPU, real-time that in some cases can sacrificial system to other interrupt event; Two, interrupting can making the CPU of embedded OS be in the endless loop state under the too frequent situation in addition, other tasks can't be dispatched and respond to kernel, thereby cause system crash or serious threat system stability.
The US6574694 United States Patent (USP) has the following disadvantages: though one in this patent, interrupt event has been carried out simple Filtering Processing, the solution that it can not essence interrupts reporting the situation of system in case of system halt under the too frequent situation; Two, under, the Interrupt Process complicated situation various, can influence the real-time that system responses is interrupted at interrupting device.
Summary of the invention
The technical matters that the present invention solves has provided a kind of Interrupt Process device and method that is applied to embedded real time system.
A kind of Interrupt Process device that is applied to embedded real time system provided by the invention, this device comprises: interrupt response module, bottom interrupt the readjustment processing module, the interruption socket layer waits for the task processing module and the readjustment initialization module is interrupted on the upper strata,
The interrupt response module is used for carrying out Interrupt Process work after look-at-me triggers, and triggers bottom and interrupts the readjustment processing module;
Bottom interrupts the readjustment processing module, handles according to interrupt type, by synchronization mechanism and task queue the Interrupt Process result is discharged into the interruption socket layer and waits for the task processing module;
Interrupt socket layer and wait for the task processing module, be used for taking out waiting task from interrupting task queue, search socket layer call back function table, and the upper layer module that is used for carrying out embedded real time system is registered in the subsequent interrupt readjustment Processing tasks in the socket layer module, comprises interrupting distribution and handling;
The readjustment initialization module is interrupted on the upper strata, is triggered by the embedded real-time operating system upper strata and calls, and carries out the initialization and the registration operation of socket layer call back function table.
Above-mentioned device further comprises:
Interrupt event is monitoring and control module in real time, is used for detecting interrupting event timing, according to testing result respective interrupt is carried out asynchronous interrupt mask control.
Above-mentioned device, wherein, the interrupt response module is specially:
Be used for the interrupt spot is protected; important data and register pop down are handled; and read interrupt source; remove in the interrupting device and the interrupt flag bit of interruptable controller; carrying out corresponding interrupt event judges; and be used for triggering and call bottom and interrupt the readjustment processing module, and interrupt returning, recover the scene of pop down protection.
Bottom interrupts the readjustment processing module and is specially:
Be used to obtain the interrupt event type, search the interrupt control chained list by the interrupt event type that obtains, obtain relevant controlled variable, and be used to carry out interrupt mask control, and interrupt pre-service, after described interruption pre-service finishes, discharge synchronization mechanism and add task queue, interrupt aftertreatment, finish back interruption readjustment and return.
The interruption socket layer is waited for the task processing module and is specially:
Be used for detecting in real time task queue, carry out interrupt control and task pre-service, and be used for searching the call back function table, carry out the readjustment Processing tasks of upper strata registration, carry out the task aftertreatment, equipment is interrupted enabling control according to the interrupt event type.
A kind of embedded real time system interruption processing method provided by the invention may further comprise the steps:
After embedded system started, upper layer software (applications) called the upper strata and interrupts the readjustment initialization interface, and the call back function of device interrupt incident is registered to the interruption socket layer;
After CPU receives look-at-me, jump to the interrupt response module and handle, judge interrupt type, trigger bottom and interrupt the readjustment processing module;
Bottom interrupts the readjustment processing module to be handled according to interrupt type, by synchronization mechanism and task queue the Interrupt Process result is discharged into the interruption socket layer and waits for the task processing module;
Interrupt socket layer and wait for the task processing module from interrupting task queue taking-up waiting task, search socket layer and interrupt call back function, and the upper layer module in the execution embedded real time system is registered in the subsequent interrupt readjustment Processing tasks in the socket layer module, comprises interrupting distribution and handling.
Above-mentioned method wherein, comprises that also interrupt event is monitored in real time and control module is regularly carried out the detection of interrupt event, according to testing result asynchronous interrupt mask control is carried out in corresponding interruption.
Above-mentioned method, wherein, the step that the interrupt response module is handled is specially:
The interrupt spot is protected;
Important data and register pop down are handled;
Read interrupt source, remove in the interrupting device and the interrupt flag bit of interruptable controller;
Carrying out corresponding interrupt type judges;
Triggering is called bottom and is interrupted the readjustment processing module;
Interruption is returned, and recovers the scene of pop down protection.
Above-mentioned method, wherein, the step that bottom interruption readjustment processing module is handled is specially:
Obtain interrupt type;
Search the interrupt control chained list by the interrupt type that obtains, obtain relevant controlled variable;
Carry out interrupt mask control;
Interrupt pre-service;
After pre-service finishes, discharge synchronization mechanism and add task queue;
Interrupt aftertreatment, described interruption aftertreatment finishes back interruption readjustment and returns.
Above-mentioned method, wherein, interrupt socket layer and wait for the step that the task processing module handles and be specially:
Detect task queue in real time, and carry out interrupt control;
Carry out the task pre-service;
Search the call back function table according to interrupt type, carry out the readjustment Processing tasks of upper strata registration;
The task aftertreatment;
Equipment is interrupted enabling control.
Above-mentioned method, wherein, the concrete steps that interrupt event monitoring in real time and control module are regularly carried out the interrupt event detection are:
Reset and start inner core timer, touch next time and detect;
All nodes of chained list are interrupted in repeating query, check the parameter that writes down in all Interrupt Process flow processs;
The interruption that detects last fixed time interval reports number of times;
Whether judge the interruption times that reports in the fixed time interval greater than predetermined threshold value, if then carry out interrupt mask control and start back off timer, the interruption opening operation of delaying time greater than threshold value; If not greater than the interruption opening operation of then not delaying time;
Detect time-delay shielding timing and whether finish, if timing finishes then to open interrupt mask;
Whether the time-delay shielding timing that starts when the detection interruption queue is unusual finishes, if finish then to open interrupt mask;
Check whether search interruption chained list finishes, if finish, the interruption of finishing all devices detects task, EO; If do not finish, then all nodes of chained list are interrupted in repeating query again.
Compared with prior art, the present invention has introduced and has interrupted socket layer and wait for the task processing module and interrupt the processing of complex task and calling of upper strata call back function.Guaranteed that the processing in the interrupt response module is simple as far as possible on the one hand, guarantee the timely response of CPU to other interrupt event, the real-time requirement of assurance system can be conveyed the relevant complicated hardware operation of bottom again and be put in the task of waiting for, and be handled in the suitable time; On the other hand, the operation of bottom and the callback interface on upper strata are suitably isolated, reduced the coupling of upper strata and bottom Interrupt Process.
Further; the present invention also provides interrupt event monitoring and control module in real time; the interruption of carrying out dynamic real-time reports and the statistics of the relevant information handled; and carry out asynchronous interrupt mask according to the result who adds up and control; even make embedded system too frequent in device interrupt; perhaps since certain fault make under the situation that interruption can't in time remove; also can start protection mechanism automatically; avoid CPU to be in the endless loop state or the kernel work queue is overflowed, thus stability and the real-time of the system that significantly improves when handling interrupt.
Description of drawings
Fig. 1 is the structural representation of embedded real time system interruption processing module of the present invention;
Fig. 2 is interrupt response module of the present invention and structure and the processing flow chart that interrupts socket layer;
Fig. 3 is the operational flowchart of interrupt event of the present invention monitoring in real time and control module;
Embodiment
Below in conjunction with accompanying drawing embedded real time system interruption processing method of the present invention being got embodiment is elaborated.
As shown in Figure 1, the embedded real time system interruption processing module of the embodiment of the invention comprises:
Interrupt response module 101, this part is responsible for after CPU receives the look-at-me of hardware interrupts controller report, carries out Interrupt Process work in early stage;
Bottom interrupts readjustment processing module 102, and this part is responsible for carrying out the work of latter half Interrupt Process in interrupting context, controls or the like as carry out interrupt mask according to interrupt type, and carries out the operations such as interpolation of interrupt task formation;
Interrupt socket layer and wait for task processing module 103, this part is by the embedded real-time operating system kernel dispatching, the task in the handling interrupt task queue, and trigger upper strata registered callbacks function calls according to interrupt type;
Readjustment initialization module 104 is interrupted on the upper strata, and this part is triggered by the embedded real-time operating system upper strata and calls, and carries out the initialization and the registration operation of socket layer call back function table;
Interrupt event is monitoring and control module 105 in real time, and this part is responsible for the interruption generation frequency of each interrupt event is regularly added up, and according to statistical conditions respective interrupt is carried out interrupt mask control.
Wherein, described interrupt response module 101, bottom interrupt readjustment processing module 102 and interrupt socket layer waiting for task processing module 103 and being connected successively; The upper strata is interrupted readjustment initialization module 104 and is connected with the upper strata initialization interface; Interrupt event monitoring is in real time waited for task processing module 103 with aforementioned interrupt response module 101, bottom interruption readjustment processing module 102 and interruption socket layer respectively with control module 105 and is connected.Bottom interrupts adjusting back processing module 102 and interrupts socket layer waits for the task processing module 103 common interruption socket layers of forming.
As shown in Figure 2, interrupt event of the present invention processing section mainly is made of three parts: interrupt response module 101, bottom interrupt readjustment processing module 102 and interrupt socket layer waiting for task processing module 103, and wherein latter two module is formed the device interrupt socket layer that the present invention proposes.
Interrupt response module 101 is carried out Interrupt Process work in early stage, and wherein the work of at first carrying out is the protection 201 of interrupt spot, and important data and register pop down are handled; Secondly, interrupt source is read, and remove in the interrupting device and the interrupt flag bit 202 of interruptable controller; Carry out corresponding interrupt event and judge 203, trigger then and call bottom interruption readjustment processing module 102; Interrupt at last returning, recover the scene of pop down protection.
The device interrupt socket layer is one of important component part of the present invention, and it is made up of two parts: bottom interrupts readjustment processing module 102 and interrupts socket layer waiting for task processing module 103.
Bottom interruption readjustment processing module 102 is responsible for all interrupt events provides unified interrupt level to handle, and wait for task processing module 103 with the interruption socket layer and realize mutual, when isolating the coupling of upper strata and bottom Interrupt Process, also realize the control of effective interrupt mask control and system reliability.Bottom interrupts readjustment processing module 102 and at first obtains interrupt type 205, search interrupt control chained list 206 (this chained list is by the device type initialization of bottom according to embedded system) by the interrupt event type that obtains then, further obtain the pairing interrupt mask of this equipment/enable the control function pointer, interrupt pre-service/aftertreatment function pointer and other parameter preset relevant with interrupt control.After obtaining function pointer, carry out interrupt mask control 207 and (under the normal condition, will enable to control in the interruption that socket layer is waited for task module and open interrupt mask in 215, and enable to interrupt; There is the equipment of special requirement can be for other) in interrupt event monitoring in real time and the control module interruption enable operation of delaying time.Interrupt pre-service 208 afterwards, after pre-service finishes, discharge synchronization mechanism and also add task queue 209, this step is discharged into the interruption subsequent treatment task of complicated and time consumption task level and handles by interrupting context, reduces in interrupting context and handles the time that takies CPU.The readjustment of bottom interruption here processing module 102 is also monitored in real time to task queue; find that the unusual or formation of formation overflows and will carry out corresponding interrupt mask control operation; monitor in real time and this device interrupt of control module Time Delay Opening by interrupt event then; with the interruption that effective inhibition too frequently reports, system is stable under the assurance abnormal conditions.At last, this module is interrupted adjusting back after interrupting aftertreatment 210 end and is returned.
It is to handle and the module of Control work the task in the handling interrupt task queue in the progressive capable subsequent interrupt of task that socket layer is waited for task processing module 103.This module is undertaken synchronously by synchronization mechanism and bottom interruption readjustment processing module, and takes out pending interrupt task type and mission function pointer from task queue.Socket layer is waited for the task processing module and also from task level task queue is monitored and interrupt control 211 in real time, is unit with the interrupt event, the number of statistical report interruption, handling interrupt and the medium armed interrupt of task queue.Interrupt mask control that if the medium pending interrupt number of task queue is monitored in real time greater than certain threshold value then with interrupt event and control module 105 is delayed time together.Then, this module enters task pre-service 212, and searches the call back function table according to the interrupt event type, carries out the readjustment 213 of upper strata registration, carries out the upper strata event handling.Enter task aftertreatment 214, under the normal condition, equipment is also had interruption enable to control 215 thereafter.
As shown in Figure 3, interrupt event monitoring in real time and control module 105 are driven by inner core timer, regularly carry out the detection of interrupt event, and its operating process mainly comprises following components:
At first, inner core timer 301 can be reset and start to interrupt event monitoring in real time and control module, detects to trigger next time.Then, all nodes 302 of chained list are interrupted in the beginning repeating query, check the parameter that writes down in all Interrupt Process flow processs.Comprise that the interruption that bottom interrupts readjustment processing module 102 records reports number, adds the interrupt task formation frequency of failure, socket layer is waited for the tasks interrupt of waiting for of task processing module 103 records and is handled number, the medium pending data such as interrupt number of task queue.In addition, this module reports number of times 303 by the interruption that detects last fixed time interval, whether the interruption times of judging certain equipment that reports in the fixed time interval greater than pre-set threshold 304, if greater than threshold value then carry out interrupt mask control and start the back off timer 305 interruption opening operation of delaying time.If be not more than threshold value then skip 305 and handle.Then, whether this module detects time-delay shielding timing and finishes, and finishes then to open interrupt mask 306 as timing.The interruption time-delay shielding timing setting here is to carry out in the interrupt mask control 207 that bottom interrupts in the readjustment processing module 102.Whether this module detects the time-delay shielding timing that starts under the interruption queue abnormal conditions subsequently and finishes, if finish then open interrupt mask 307.The time-delay shielding timing that starts under the interruption queue abnormal conditions here is meant following three kinds of situations: when (1) discharges synchronization mechanism and adds task queue 209, overflow if monitor task queue, then can start the time-delay shielding mechanism; (2) when task level is monitored with interrupt control 211 to task queue in real time, surpass threshold value at the medium pending interrupt number of task queue then can start the time-delay shielding mechanism if monitor certain equipment; (3) interruption that detects last fixed time interval of this module reports number of times 303, if also can start the time-delay shielding mechanism greater than certain threshold value.More than the interruption opening operation of three kinds of situations all in 307, carry out.At last, this module checks whether to search for and interrupts chain end of list (EOL) 308 that if do not finish, then return 302 and search next chained list node again, if chained list has been searched for end, the interruption of then finishing all devices detects task, EO.
Claims (9)
1, a kind of embedded real time system Interrupt Process device is characterized in that described device comprises: interrupt response module, bottom interrupt the readjustment processing module, the interruption socket layer waits for the task processing module and the readjustment initialization module is interrupted on the upper strata,
Described interrupt response module is used for carrying out Interrupt Process work after look-at-me triggers, and triggers bottom and interrupts the readjustment processing module;
Described bottom interrupts the readjustment processing module, handles according to interrupt type, by synchronization mechanism and task queue the Interrupt Process result is discharged into the interruption socket layer and waits for the task processing module;
Described interruption socket layer is waited for the task processing module, be used for taking out waiting task from interrupting task queue, search socket layer call back function table, and the upper layer module that is used for carrying out embedded real time system is registered in the subsequent interrupt readjustment Processing tasks in the socket layer module, comprises interrupting distribution and handling;
The readjustment initialization module is interrupted on described upper strata, is triggered by the embedded real-time operating system upper strata and calls, and carries out the initialization and the registration operation of socket layer call back function table;
Described device further comprises:
Interrupt event is monitoring and control module in real time, is used for detecting interrupting event timing, according to testing result respective interrupt is carried out asynchronous interrupt mask control.
2, a kind of embedded real time system Interrupt Process device according to claim 1 is characterized in that described interrupt response module is specially:
Be used for the interrupt spot is protected; important data and register pop down are handled; and read interrupt source; remove in the interrupting device and the interrupt flag bit of interruptable controller; carrying out corresponding interrupt event judges; and be used for triggering and call bottom and interrupt the readjustment processing module, and interrupt returning, recover the scene of pop down protection.
3, a kind of embedded real time system Interrupt Process device according to claim 1 is characterized in that, described bottom interrupts the readjustment processing module and is specially:
Be used to obtain the interrupt event type, search the interrupt control chained list by the interrupt event type that obtains, obtain relevant controlled variable, and be used to carry out interrupt mask control, and interrupt pre-service, after described interruption pre-service finishes, discharge synchronization mechanism and add task queue, interrupt aftertreatment, finish back interruption readjustment and return.
4, a kind of embedded real time system Interrupt Process device according to claim 1 is characterized in that, the interruption socket layer is waited for the task processing module and is specially:
Be used for detecting in real time task queue, carry out interrupt control and task pre-service, and be used for searching the call back function table, carry out the readjustment Processing tasks of upper strata registration, carry out the task aftertreatment, equipment is interrupted enabling control according to the interrupt event type.
5, a kind of embedded real time system interruption processing method is characterized in that, said method comprising the steps of:
After embedded system started, upper layer software (applications) called the upper strata and interrupts the readjustment initialization interface, and the call back function of device interrupt incident is registered to the interruption socket layer;
After CPU receives look-at-me, jump to the interrupt response module and handle, judge interrupt type, trigger bottom and interrupt the readjustment processing module;
Bottom interrupts the readjustment processing module to be handled according to interrupt type, by synchronization mechanism and task queue the Interrupt Process result is discharged into the interruption socket layer and waits for the task processing module;
Interrupt socket layer and wait for the task processing module from interrupting task queue taking-up waiting task, search socket layer and interrupt call back function, and the upper layer module in the execution embedded real time system is registered in the subsequent interrupt readjustment Processing tasks in the socket layer module, comprises interrupting distribution and handling; Wherein: interrupt event monitoring in real time and control module are regularly carried out the detection of interrupt event, according to testing result asynchronous interrupt mask control are carried out in corresponding interruption.
6, embedded real time system interruption processing method according to claim 5 is characterized in that, the step that the interrupt response module is handled is specially:
The interrupt spot is protected;
Important data and register pop down are handled;
Read interrupt source, remove in the interrupting device and the interrupt flag bit of interruptable controller;
Carrying out corresponding interrupt type judges;
Triggering is called bottom and is interrupted the readjustment processing module;
Interruption is returned, and recovers the scene of pop down protection.
7, embedded real time system interruption processing method according to claim 5 is characterized in that, the step that bottom interruption readjustment processing module is handled is specially:
Obtain interrupt type;
Search the interrupt control chained list by the interrupt type that obtains, obtain relevant controlled variable;
Carry out interrupt mask control;
Interrupt pre-service;
After pre-service finishes, discharge synchronization mechanism and add task queue;
Interrupt aftertreatment, described interruption aftertreatment finishes back interruption readjustment and returns.
8, embedded real time system interruption processing method according to claim 5 is characterized in that, interrupts socket layer and waits for the step that the task processing module handles and be specially:
Detect task queue in real time, and carry out interrupt control;
Carry out the task pre-service;
Search the call back function table according to interrupt type, carry out the readjustment Processing tasks of upper strata registration;
The task aftertreatment;
Equipment is interrupted enabling control.
9, embedded real time system interruption processing method according to claim 5 is characterized in that, the concrete steps that interrupt event monitoring in real time and control module are regularly carried out the interrupt event detection are:
Reset and start inner core timer, touch next time and detect;
All nodes of chained list are interrupted in repeating query, check the parameter that writes down in all Interrupt Process flow processs;
The interruption that detects last fixed time interval reports number of times;
Whether judge the interruption times that reports in the fixed time interval greater than predetermined threshold value, if then carry out interrupt mask control and start back off timer, the interruption opening operation of delaying time greater than threshold value; If not greater than the interruption opening operation of then not delaying time;
Detect time-delay shielding timing and whether finish, if timing finishes then to open interrupt mask;
Whether the time-delay shielding timing that starts when the detection interruption queue is unusual finishes, if finish then to open interrupt mask;
Check whether search interruption chained list finishes, if finish, the interruption of finishing all devices detects task, EO; If do not finish, then all nodes of chained list are interrupted in repeating query again.
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| CN101739368B (en) * | 2008-11-07 | 2012-06-06 | 中兴通讯股份有限公司 | Interrupt accelerating device and interrupt processing system |
| CN102567104A (en) * | 2010-12-30 | 2012-07-11 | 中兴通讯股份有限公司 | Method and device for realizing soft interrupt of real-time operating system |
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| CN114489801A (en) * | 2022-02-11 | 2022-05-13 | 广州翼辉信息技术有限公司 | Method, system and medium for measuring interrupt duration of embedded system with high precision |
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