On using ‘tasklets’
An example of the Linux kernel’s ‘tasklet’ mechanism for deferring
some interrupt-handling work
Recall purpose of Project #2
• Allow you to gain experience encountering the kinds of issues that commonly arise in crafting software to operate real hardware: – Learning the hardware device’s capabilities– Deciding which driver-methods to implement– Accommodating your platform’s interfaces – Exploiting the OS kernel’s support-functions– Devising a strategy for testing and debugging
Driver enhancements
• Now that you’ve had an opportunity to get acquainted with the NS16550 serial UART (its documented capabilities and its quirks) we can build upon what you experienced to contemplate software enhancements that might not have made much sense if you lacked any actual confrontation with ‘real-world’ peripheral hardware on PCs
Urgent versus non-urgent
• When some peripheral device issues an interrupt request, it may need a prompt response to handle an urgent situation
• After the emergency has been dealt with, there may also be some further actions which are necessary, but which can be safely delayed without jeopardizing the integrity of proper system functioning
The serial UART
• As an example, when the UART receives characters via its serial-port, there is only a limited capability for preserving them in the device’s on-board ‘receive buffer’
• These received characters need to be quickly moved out of the UART before they get overwritten by newer data -- or before they can cause other incoming characters to be ‘lost’ for lack of space
The ‘handshake’ lines
• A device-driver for the UART can use the handshaking signal-lines to regulate the quantity of data being transmitted to it
• It can de-assert the ‘Clear-To-Send’ signal being sampled by its equipment partner as a way to temporarily pause data-transfers
• Once the incoming data-stream is paused, there is less urgency to move data aside
9-wire null-modem cable
CDRxD
TxDGNDDSRDTRRTSCTSRI
CDRxD
TxD
GNDDSRDTRRTSCTS
RI
Data TerminalEquipment
DataTerminalEquipment
the sender the receiver
Modem Control Register
0 0 0LOOPBACK
OUT2 OUT1 RTS DTR
7 6 5 4 3 2 1 0
Legend: DTR = Data Terminal Ready (1=yes, 0=no) RTS = Request To Send (1=yes, 0=no) OUT1 = not used (except in loopback mode) OUT2 = enables the UART to issue interrupts LOOPBACK-mode (1=enabled, 0=disabled)
The receiver clears this bit
Modem Status Register
DCD RI DSR CTSdeltaDCD
deltaRI
deltaDSR
deltaCTS
7 6 5 4 3 2 1 0
set if the corresponding bit has changed since the last time this register was read
Legend: [---- loopback-mode ----] CTS = Clear To Send (1=yes, 0=no) [bit 0 in Modem Control] DSR = Data Set Ready (1=yes, 0=no) [bit 1 in Modem Control] RI = Ring Indicator (1=yes,0=no) [bit 2 in Modem Control] DCD = Data Carrier Detected (1=yes,0=no) [bit 3 in Modem Control]
The sender checks this bit
Read the Line Status Register
Write byte to the Transmit Data Register
THRE==1?NO
YES
DONE
Read the Modem Status Register
CTS==1?NO
YES
The sender’s algorithm
Set RTS=1 in the Modem Control Register
The receiver’s actions
• When the receiver’s storage capacity has been reached, it takes urgent action to ‘pause’ any further transfers of data (i.e., it writes ‘0’ to the RTS-bit in its Modem Control register)
• Then it needs to remove its accumulation of received data out of its storage medium
• Being less urgent this can be postponed
Interrupt handling
• Often it’s beneficial to separate the actions a driver performs in responding to a device interrupt-request into two categories: the urgent ones are performed immediately, the less urgent ones temporarily delayed
• Accordingly programmers write separate functions, known as the “top half” and the “bottom half” for an interrupt handler
Application to the UART
• Top Half: – Tell sender to ‘pause’ further data-transfers
• Bottom-Half:– Move accumulated data out of the device’s
on-board storage-area (e.g., its receive FIFO)
A tasklet for ‘bottom half’ work
name
function
data-pointer‘struct tasklet_struct’ object
• Your device-driver allocates and initializes a ‘struct tasklet_struct’ object, possessing a name, a function and a pointer to data
• Your driver’s ‘top-half’ interrupt-handler will schedule your tasklet for future execution
Linux syntax
• #include <linux/interrupt.h>
• struct tasklet_struct my_tasklet;• struct mydata { … } my_tasklet_data;• void my_function ( unsigned long );
• tasklet_init( &my_tasklet, &my_function, (unsigned long)&my_tasklet_data );
• tasklet_schedule( &my_tasklet ); • tasklet_kill( &my_tasklet );
Tasklet semantics
• A few technical points to keep in mind if you decide to make use of ‘tasklets’:
• A ‘tasklet’ runs at ‘interrupt time’ (so it doesn’t own any user-space context, just kernel-space context)
userspace
‘virtual’ memory
kernelspace
Some interrupted task’s context resides here(so it can’t be predicted)
The kernel-space context is consistent across all tasks
More tasklet semantics…
• A tasklet runs in ‘atomic mode’ (so cannot sleep), although it can ‘wake up’ a task that is sleeping
• A tasklet executes on the CPU that scheduled it (and so doesn’t execute concurrently with itself)
• You can schedule your tasklet to run either at “normal” priority or at “high” priority – the latter ones all are run before any of the former ones
‘sleep’ versus ‘busy waiting’
• Our ‘tasklet.c’ demo uses the ‘interruptible sleep’ mechanism in its device-driver ‘read()’ method
• Whenever the UART receives new data, it will interrupt whatever else the CPU is doing– Quickly our ‘top half’ interrupt-handler pauses any
more data-transfers, schedules our ‘bottom half’ for future execution, then resumes the interrupted task
– Later our ‘tasklet’ will move accumulated data from the FIFO to a ringbuffer, then will awaken any task was sleeping on our ‘read’ function’s wait-queue
The senario overview
ISR
stops the sending of additional data
schedules the tasklet
resumes the Interrupted task
Arrival of new data interrupts the CPU
TASKLET
transfers received bytesfrom UART toto ringbuffer
wakes up sleepingreaders
READ()
sleeps until driver’s ringbuffer
has some data
moves data fromdriver’s ringbuffer
to user’s buffer
issues ‘Clear-To-Send’
if case the driver’s ringbufferhas been emptied
reports count ofbytes returnedin user’s buffer
‘write()’
• We did not employ efficiency-techniques in our device-driver’s ‘write()’ function:– No wait-queues– No interrupts – No tasklets
• Thus there is still an opportunity for you to add improvements to our ‘tasklet.c’ demo!
In-class exercise
• Download our ‘tasklet.c’ module from the course website, compile it, and install it a pair of our machines which are connected to each other via a null-modem cable
• Try testing the ‘robustness’ of our driver:
$ cat /dev/uart
First launch the ‘cat’ command …
$ ls -l /usr/bin > /dev/uart
… then redirect lots of screen-output!