Laboratory Exercise 6 Solution

The purpose of this exercise is to investigate the use of interrupts for the ARM* processor, using assembly-language code. To do this exercise you need to be familiar with the exceptions processing mechanisms for the ARM processor, and with the operation of the ARM Generic Interrupt Controller (GIC). These concepts are discussed in the tutorials Introduction to the ARM Processor, and Using the ARM Generic Interrupt Controller. We assume that you are using the DE1-SoC Computer to implement the solutions to this exercise. It may be useful to read the parts of the documentation for this computer systems that pertain to the use of exceptions and interrupts.




Part I




Consider the main program shown in Figure 1. The code first sets the exceptions vector table for the ARM processor using a code section called .vectors. Then, in the .text section the main program needs to set up the stack pointers (for both interrupt mode and supervisor mode), initialize the generic interrupt controller (GIC), configure the KEY pushbuttons port to generate interrupts, and finally enable interrupts in the processor. You are to fill in the code that is not shown in the figure.




The function of your program is to show the numbers 0 to 3 on the HEX0 to HEX3 displays, respectively, when a corresponding KEY pushbutton is pressed. Since the main program simply “idles” in an endless loop, as shown in Figure 1, you have to control the displays by using an interrupt service routine for the KEY pushbuttons port.




Perform the following:




Create a new folder to hold your solution for this part. Create a file, such as part1.s, and type the assembly language code for the main program into this file.



Create any other source code files you may want. Include with your project the code for the CONFIG_GIC subroutine that initializes the GIC. This file, which is provided for you, sets up the GIC to send interrupts to the ARM processor from the KEY pushbuttons port (and timers that are used later in this lab exercise).



The bottom part of Figure 1 gives the code required for the interrupt handler, SERVICE_IRQ. You have to write the code for the KEY_ISR interrupt service routine. Your code should show the digit 0 on the HEX0 display when KEY0 is pressed, and then if KEY0 is pressed again the display should be “blank”. You should toggle the HEX0 display between 0 and “blank” in this manner each time KEY0 is pressed. Similarly, toggle between “blank” and 1, 2, or 3 on the HEX1 to HEX3 displays each time KEY1, KEY2, or KEY3 is pressed, respectively.



Figure 2 provides code, using just simple loops, which can be used for the other ARM exception handlers.




Make a new Monitor Program project in the folder where you stored your source-code files. In the Monitor Program screen illustrated in Figure 3, make sure to choose Exceptions in the Linker Section Presets drop-down menu. Compile, download, and test your program.



























1



.section
.vectors, "ax"




B
_start
// reset vector
B
SERVICE_UND
//
undefined instruction vector
B
SERVICE_SVC
//
software interrupt vector



SERVICE_ABT_INST// aborted prefetch vector



SERVICE_ABT_DATA// aborted data vector



.word
0
// unused vector


B
SERVICE_IRQ
//
IRQ interrupt vector
B
SERVICE_FIQ
//
FIQ interrupt
vector
.text








.global
_start









_start:

/* Set up stack pointers for IRQ and SVC processor modes */

... code not shown




BL CONFIG_GIC // configure the ARM generic




// interrupt controller

/* Configure the KEY pushbuttons port to generate interrupts */

... code not shown




/* Enable IRQ interrupts in the ARM processor */

... code not shown




IDLE:










B
IDLE
//
main program simply idles
/* Define the exception service routines */


SERVICE_IRQ:
PUSH
{R0-R7, LR}






LDR
R4, =0xFFFEC100 //
GIC CPU interface base address


LDR
R5, [R4, #0x0C] //
read the ICCIAR in the CPU






//
interface
KEYS_HANDLER:










CMP
R5, #73
//
check the interrupt ID
UNEXPECTED:
BNE
UNEXPECTED
//
if not recognized, stop here


BL
KEY_ISR




EXIT_IRQ:
STR
R5, [R4, #0x10] //
write to the End of Interrupt






//
Register (ICCEOIR)


POP
{R0-R7, LR}






SUBS
PC, LR, #4
//
return from exception






Figure 1: Main program and interrupt service routine.














































2
/* Undefined instructions */

SERVICE_UND:




SERVICE_UND
/* Software interrupts */

SERVICE_SVC:




SERVICE_SVC
/* Aborted data reads */

SERVICE_ABT_DATA:




SERVICE_ABT_DATA
/* Aborted instruction fetch */

SERVICE_ABT_INST:




SERVICE_ABT_INST



SERVICE_FIQ:




SERVICE_FIQ



.end







Figure 2: Exception handlers.













































































































Figure 3: Selecting the Exceptions linker section.




























3
Part II




Consider the main program shown in Figure 4. The code has to set up the ARM stack pointers for interrupt and supervisor modes, and then enable interrupts. The subroutine CONFIG_GIC has to configure the GIC to send interrupts to the ARM processor from two sources: an Interval Timer and the KEY pushbuttons port. The main program calls the subroutines CONFIG_TIMER and CONFIG_KEYS to set up the two ports. You are to write each of these subroutines. In CONFIG_TIMER set up the Interval Timer, which is implemented in the FPGA and has the base address 0xFF202000, to generate one interrupt every 0.25 seconds. This timer is described in Section 2.11 of the documentation for the DE1-SoC Computer System.




In Figure 4 the main program executes an endless loop writing the value of the global variable COUNT to the red lights LEDR. In the interrupt service routine for the Interval Timer you are to increment the variable COUNT by the value of the RUN global variable, which should be either 1 or 0. You are to toggle the value of the RUN global variable in the interrupt service routine for the KEYs, each time a KEY is pressed. When RUN = 0, the main program will display a static count on the red lights, and when RUN = 1, the count shown on the red lights will increment every 0.25 seconds.




Make a new folder and Monitor Program project for this part, and assemble, download, and test your code.




Part III




Modify your program from Part II so that you can vary the speed at which the counter displayed on the red lights is incremented. All of your changes for this part should be made in the interrupt service routine for the KEYs. The main program and the rest of your code should not be changed.




Implement the following behavior. When KEY0 is pressed, the value of the RUN variable should be toggled, as in Part I. Hence, pressing KEY0 stops/runs the incrementing of the COUNT variable. When KEY1 is pressed, the rate at which COUNT is incremented should be doubled, and when KEY2 is pressed the rate should be halved. You should implement this feature by stopping the Interval Timer within the KEYs interrupt service routine, modifying the load value used in the timer, and then restarting the timer.




Part IV




For this part you are to add a third source of interrupts to your program, using the A9 Private Timer. Set up the timer to provide an interrupt every 1/100 of a second. Use this timer to increment a global variable called TIME. You should use the TIME variable as a real-time clock that is shown on the seven-segment displays HEX3 0. Use the format SS:DD, where SS are seconds and DD are hundredths of a second. You should be able to stop/run the clock by pressing pushbutton KEY3. When the clock reaches 59:99, it should wrap around to 00:00.




Make a new folder to hold your solution for this part. Modify the main program from Part III to call a new subroutine, named CONFIG_PRIV_TIMER, which sets up the A9 Private Timer to generate the required interrupts. To show the TIME variable in the real-time clock format SS:DD, you can use the same approach that was followed for Part 4 of Lab Exercise 4. In that previous exercise you used polled I/O with the private timer, whereas now you are using interrupts. One possible way to structure your code is illustrated in Figure 5. In this version of the code, the endless loop in the main program writes the value of a variable named HEX_code to the HEX3 0 displays.








































4



.section .vectors, "ax"




... code not shown




.text




.global _start




_start:

/* Set up stack pointers for IRQ and SVC processor modes */

... code not shown




BL
CONFIG_GIC
// configure the ARM generic




// interrupt controller
BL
CONFIG_TIMER
// configure the Interval Timer
BL
CONFIG_KEYS
// configure the pushbutton




// KEYs port
/* Enable IRQ interrupts in the ARM processor */
... code not shown


LDR
R5, =0xFF200000
// LEDR base address
LOOP:




LDR
R3, COUNT
// global variable
STR
R3, [R5]
// write to the LEDR lights
B
LOOP





/* Configure the Interval Timer to create interrupts at 0.25 second intervals */

CONFIG_TIMER:






... code
not shown




BX
LR


/* Configure the pushbutton KEYS to generate interrupts */
CONFIG_KEYS:








... code
not shown




BX
LR


/* Global variables */






.global
COUNT


COUNT:
.word
0x0
// used by timer


.global
RUN
// used by pushbutton KEYs
RUN:
.word
0x1
// initial value to increment






// COUNT


.end










Figure 4: Main program for Part II.







Using the scheme in Figure 5, the interrupt service routine for the private timer has to increment the TIME variable, and also update the HEX_code variable that is being written to the 7-segment displays by the main program.




Make a new Monitor Program project and test your program.





































5



.text






.global
_start




_start:






/* Set up stack pointers for IRQ and SVC processor
modes */
... code not shown




BL
CONFIG_GIC
//
configure the ARM generic




//
interrupt controller
BL
CONFIG_PRIV_TIMER
//
configure the private timer
BL
CONFIG_TIMER
//
configure the Interval Timer
BL
CONFIG_KEYS
//
configure the pushbutton




//
KEYs port
/* Enable IRQ interrupts in
the ARM processor */




... code not shown




LDR
R5, =0xFF200000
//
LEDR base address
LDR
R6, =0xFF200020
//
HEX3-0 base address
LOOP:






LDR
R4, COUNT
//
global variable
STR
R4, [R5]
//
light up the red lights
LDR
R4, HEX_code
//
global variable
STR
R4, [R6]
//
show the time in format




//
SS:DD
B
LOOP







/* Configure the MPCore private timer to create interrupts every 1/100 seconds */

CONFIG_PRIV_TIMER:




... code not shown




BX LR

/* Configure the Interval Timer to create interrupts at 0.25 second intervals */

CONFIG_TIMER:






... code not shown




BX
LR


/* Configure the pushbutton
KEYS to generate interrupts */
CONFIG_KEYS:








... code not shown




BX
LR


/* Global variables */






.global
COUNT


COUNT:
.word
0x0
// used by timer


.global
RUN
// used by pushbutton KEYs
RUN:
.word
0x1
// initial value to increment COUNT


.global
TIME


TIME:
.word
0x0
// used for real-time clock


.global
HEX_code


HEX_code:
.word
0x0
// used for 7-segment displays



.end




Figure 5: Main program for Part IV.








































6