feat: add lab-rv32i-freertos-isr-drivers card
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# K15 — Explicit FromISR, UART and GPIO wrappers
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## Position
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- Series: FreeRTOS C++
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- Lesson: L14, card K15
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- Duration: 30 minutes
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- Real machine-external interrupt on Hazard3
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- Queue capacity 1 with drop-newest overflow
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## Outcome
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The student distinguishes task and ISR driver views, publishes UART/GPIO events
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only through explicit FromISR APIs, accumulates one wake decision, yields once,
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and proves backpressure plus immediate high-priority task execution.
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## Lesson plan
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| Time | Mode | Evidence |
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| --- | --- | --- |
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| 0–5 | ISR contract | task/ISR views and one IsrContext |
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| 5–10 | real IRQ | mcause=0x8000000b and separate ISR stack |
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| 10–15 | UART queue | 0x41 queued, 0x42 drop-newest |
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| 15–20 | GPIO notify | edge 1→0, notification count 1 |
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| 20–25 | wake/yield | accumulated wake=true, exactly one yield |
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| 25–30 | context switch | receiver at tick 1 before stimulus resumes |
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## Acceptance
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- the interrupt is a real machine-external IRQ through the FreeRTOS trap path;
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- Uart and GpioPin expose distinct task and ISR views;
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- only xQueueSendFromISR and vTaskNotifyGiveFromISR are used in the handler;
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- one IsrContext accumulates both wake requests;
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- RX queue capacity 1 accepts 0x41 and drop-newest rejects/counts 0x42;
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- UART ready and GPIO edge MMIO-model state clear from 1 to 0;
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- higherPriorityTaskWoken is true and yield_if_needed is called once;
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- receiver gets byte 0x41 and notification count 1 at tick 1;
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- receiver sees stimulus_after=0; stimulus later sees receiver_done=1;
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- static storage has heap delta zero and target exits with PASS.
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## Main traps
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1. Calling an ordinary blocking API from an ISR.
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2. Automatically guessing execution context instead of explicit views.
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3. Yielding after each primitive rather than once at handler exit.
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4. Ignoring queue overflow or silently overwriting data.
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5. Performing parsing, debounce or long GPIO policy in the handler.
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\hspace*{0.28em}\textcolor{orange!85!black}{EK~LOCAL~DBG.ISR}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.01}{Mierzy mcause, register transitions, queued/dropped bytes, wake flag i order.}}\par%
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\hspace*{0.54em}\textcolor{blue!70!black}{KW~LOCAL~DBG.ISR}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.01}{Pokazuje 0x41/0x42, wake 1, yield 1, receiver-before-resume i PASS.}}\par%
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\hspace*{0.28em}\textcolor{green!50!black}{EN~LOCAL~EN~RTOS.ISR}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.01}{Analizuje ograniczenia ISR, overflow i delegowanie pracy.}}\par%
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\hspace*{0.54em}\textcolor{blue!70!black}{KW~LOCAL~KW~RTOS.ISR}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.01}{Nie wywołuje blocking API, definiuje drop-newest i przenosi parsing/debounce do taska.}}\par%
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\vspace{1.0em}
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\noindent{\Large\bfseries Cel karty}\par
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\vspace{0.35em}
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Uczeń publikuje UART RX i GPIO edge z realnego external IRQ przez jawne FromISR views, akumuluje wake i wykonuje jeden yield.
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\vspace{0.7em}
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\noindent{\Large\bfseries Zakres karty}\par
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\vspace{0.35em}
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ISR nie wykonuje blocking API, parsowania ani debounce. Queue overflow jest jawnym drop-newest z licznikiem, a ciężka praca przechodzi do taska.
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\section{Realny IRQ i explicit views}
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}[-3.1em]
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\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K15.WE01.TECH.LOCAL.DBG.ISR.01 | WE 01: Explicit FromISR drivers. Implementacja jawnej,\textCR bounded granicy między IRQ a taskami dla UART i GPIO. | EK LOCAL DBG.ISR.01: Mierzy mcause,\textCR register transitions, queued/dropped bytes, wake flag i order. | KW LOCAL DBG.ISR.01:\textCR Pokazuje 0x41/0x42, wake 1, yield 1, receiver-before-resume i PASS.}\par
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\vspace{0.10em}%
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\noindent K1: Zmierz mcause i status UART/GPIO 1 do 0.\quad D1\par
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||||
\noindent K2: Potwierdź ISR stack różny od task stacks.\quad D1\par
|
||||
\par\vspace{0.18em}%
|
||||
\endgroup
|
||||
|
||||
Wyzwól machine-external IRQ, porównaj task oraz ISR views UART/GPIO i potwierdź osobny ISR stack oraz clear sources.
|
||||
\ESCSectionBlockEnd
|
||||
|
||||
\ESCSectionBlockStart
|
||||
\section{UART backpressure i GPIO notification}
|
||||
\reversemarginpar
|
||||
\marginnote[%
|
||||
\begin{minipage}{\marginparwidth}%
|
||||
\raggedright
|
||||
{\fontsize{3.55}{3.95}\selectfont\ttfamily
|
||||
\begin{minipage}[t]{\marginparwidth}%
|
||||
\raggedright
|
||||
{\bfseries\textcolor{black!65}{TECH}\par}%
|
||||
\vspace{0.08em}%
|
||||
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
|
||||
\end{minipage}%
|
||||
}%
|
||||
\end{minipage}%
|
||||
]{}[-3.1em]
|
||||
\normalmarginpar
|
||||
|
||||
\marginnote{%
|
||||
\begin{minipage}{\marginparwidth}%
|
||||
\raggedright
|
||||
{\fontsize{3.55}{3.95}\selectfont\ttfamily
|
||||
\hspace*{0.06cm}%
|
||||
\begin{minipage}[t]{\dimexpr\marginparwidth-0.06cm\relax}%
|
||||
\raggedright
|
||||
{\bfseries\textcolor{black!65}{OG}\par}%
|
||||
\vspace{0.08em}%
|
||||
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
|
||||
\end{minipage}%
|
||||
}%
|
||||
\end{minipage}%
|
||||
}[-3.1em]
|
||||
|
||||
|
||||
\begingroup
|
||||
\scriptsize\ttfamily\color{black!60}\sloppy
|
||||
\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K15.WE01.TECH.LOCAL.DBG.ISR.01 | WE 01: Explicit FromISR drivers. Implementacja jawnej,\textCR bounded granicy między IRQ a taskami dla UART i GPIO. | EK LOCAL DBG.ISR.01: Mierzy mcause,\textCR register transitions, queued/dropped bytes, wake flag i order. | KW LOCAL DBG.ISR.01:\textCR Pokazuje 0x41/0x42, wake 1, yield 1, receiver-before-resume i PASS.}\par
|
||||
\vspace{0.10em}%
|
||||
\noindent K1: Pokaż queued 0x41 i dropped 0x42.\quad D1\par
|
||||
\ESCTinyStepSeparator
|
||||
\noindent K2: Pokaż notification sent/taken 1.\quad D1\par
|
||||
\par\vspace{0.18em}%
|
||||
\endgroup
|
||||
|
||||
Wyślij dwa bajty do queue capacity 1, policz drop-newest, a GPIO edge opublikuj jako notification tego samego receivera.
|
||||
\ESCSectionBlockEnd
|
||||
|
||||
\ESCSectionBlockStart
|
||||
\section{Wake accumulation, one yield i bounded work}
|
||||
\reversemarginpar
|
||||
\marginnote[%
|
||||
\begin{minipage}{\marginparwidth}%
|
||||
\raggedright
|
||||
{\fontsize{3.55}{3.95}\selectfont\ttfamily
|
||||
\begin{minipage}[t]{\marginparwidth}%
|
||||
\raggedright
|
||||
{\bfseries\textcolor{black!65}{TECH}\par}%
|
||||
\vspace{0.08em}%
|
||||
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
|
||||
\end{minipage}%
|
||||
}%
|
||||
\end{minipage}%
|
||||
]{}[-3.1em]
|
||||
\normalmarginpar
|
||||
|
||||
\marginnote{%
|
||||
\begin{minipage}{\marginparwidth}%
|
||||
\raggedright
|
||||
{\fontsize{3.55}{3.95}\selectfont\ttfamily
|
||||
\hspace*{0.06cm}%
|
||||
\begin{minipage}[t]{\dimexpr\marginparwidth-0.06cm\relax}%
|
||||
\raggedright
|
||||
{\bfseries\textcolor{black!65}{OG}\par}%
|
||||
\vspace{0.08em}%
|
||||
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
|
||||
\end{minipage}%
|
||||
}%
|
||||
\end{minipage}%
|
||||
}[-3.1em]
|
||||
|
||||
|
||||
\begingroup
|
||||
\scriptsize\ttfamily\color{black!60}\sloppy
|
||||
\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K15.WE01.OG.LOCAL.RTOS.ISR.01 | WE 01: Explicit FromISR drivers. Implementacja jawnej,\textCR bounded granicy między IRQ a taskami dla UART i GPIO. | EN LOCAL RTOS.ISR.01: Analizuje\textCR ograniczenia ISR, overflow i delegowanie pracy. | KW LOCAL RTOS.ISR.01: Nie wywołuje\textCR blocking API, definiuje drop-newest i przenosi parsing/debounce do taska.}\par
|
||||
\vspace{0.10em}%
|
||||
\noindent K1: Potwierdź wake true, yield calls 1 i tick receivera 1.\quad D1\par
|
||||
\ESCTinyStepSeparator
|
||||
\noindent K2: Uzasadnij overflow oraz granicę ISR/task.\quad D1\par
|
||||
\par\vspace{0.18em}%
|
||||
\endgroup
|
||||
|
||||
Połącz local wake flags w jednym IsrContext, wykonaj yield raz, dowiedź receiver-before-resume i przypisz parsing/debounce do taska.
|
||||
\ESCSectionBlockEnd
|
||||
|
||||
\end{document}
|
||||
+198
@@ -0,0 +1,198 @@
|
||||
\documentclass[10pt]{article}
|
||||
\usepackage[T1]{fontenc}\usepackage[utf8]{inputenc}\usepackage[polish]{babel}
|
||||
\usepackage[a4paper,margin=1.55cm]{geometry}
|
||||
\usepackage{array,tabularx,booktabs,amsmath,amssymb,xcolor,listings,hyperref,fancyhdr,lastpage,enumitem}
|
||||
\definecolor{accent}{HTML}{16324A}\definecolor{accentlight}{HTML}{EEF3F7}\definecolor{rulegray}{HTML}{D7DEE5}
|
||||
\hypersetup{colorlinks=true,linkcolor=accent,urlcolor=blue}
|
||||
\IfFileExists{build-meta.tex}{\input{build-meta.tex}}{\newcommand{\BuildCommit}{local}}
|
||||
\newcommand{\PublisherDomain}{mpabi}
|
||||
\newcommand{\CardArea}{inf}
|
||||
\newcommand{\CardSeries}{freertos-cpp}
|
||||
\newcommand{\CardNumber}{15}
|
||||
\newcommand{\CardCount}{16}
|
||||
\newcommand{\CardSlug}{isr-drivers}
|
||||
\newcommand{\CardVersion}{v00.01}
|
||||
\newcommand{\DocumentUUID}{02f6cd71-5c85-4883-a237-1d4ba08d9469}
|
||||
\newcommand{\blank}[1]{\rule{#1}{.2pt}}
|
||||
\lstset{language=C++,basicstyle=\ttfamily\scriptsize,columns=fullflexible,keepspaces=true,frame=single,breaklines=true,showstringspaces=false,numbers=none,backgroundcolor=\color{accentlight},rulecolor=\color{rulegray}}
|
||||
\pagestyle{fancy}\fancyhf{}
|
||||
\lhead{\textbf{K15 · FreeRTOS C++ · FromISR}}\rhead{\small L14 · UART + GPIO}
|
||||
\lfoot{\scriptsize commit \BuildCommit}\cfoot{\scriptsize \thepage/\pageref{LastPage}}\rfoot{\scriptsize V11.3.0 / \CardVersion}
|
||||
\setlength{\headheight}{14pt}\setlength{\footskip}{19pt}
|
||||
\setlist[itemize]{nosep,leftmargin=1.45em}\setlist[enumerate]{nosep,leftmargin=1.65em}
|
||||
\begin{document}\sloppy
|
||||
\begin{center}
|
||||
{\LARGE\bfseries Jawne FromISR: UART RX i GPIO edge}\par
|
||||
\vspace{.25em}{\large jeden IsrContext, jedna decyzja yield, jawny backpressure}\par
|
||||
\end{center}
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{1.65cm}Xp{1.75cm}X@{}}
|
||||
\toprule
|
||||
Karta & K15 / \CardCount & Czas & 30 minut \\
|
||||
Platforma & Hazard3 / RV32I & IRQ & machine external \\
|
||||
RX queue & capacity 1 & Overflow & drop-newest \\
|
||||
Wersja & \CardVersion & UUID karty & \texttt{02f6cd71-...} \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
\section*{Jawny kontrakt handlera}
|
||||
\begin{lstlisting}
|
||||
IsrContext isr;
|
||||
auto byte = uart.isr_view().read_rx_from_isr();
|
||||
rx.send_from_isr(byte, isr);
|
||||
notify.give_from_isr(isr);
|
||||
isr.yield_if_needed(); // dokladnie raz
|
||||
\end{lstlisting}
|
||||
|
||||
\noindent\fcolorbox{accent}{accentlight}{\begin{minipage}{.94\textwidth}
|
||||
\textbf{Kontrakt K15.} ISR view nie ma timeoutu ani blocking API. Każde
|
||||
\texttt{...FromISR} dokłada żądanie wake do jednego contextu. Handler czyści
|
||||
źródła, publikuje bounded dane i dopiero na końcu raz podejmuje decyzję yield.
|
||||
\end{minipage}}
|
||||
|
||||
\section*{Plan 30 minut}
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{1.35cm}p{3.1cm}X@{}}
|
||||
\toprule Czas & Tryb & Dowód \\
|
||||
\midrule
|
||||
0--5 & views & task view kontra ISR view \\
|
||||
5--10 & IRQ & \texttt{mcause=0x8000000b}, ISR stack \\
|
||||
10--15 & UART & 0x41 queued, 0x42 dropped \\
|
||||
15--20 & GPIO & edge 1--0, notification=1 \\
|
||||
20--25 & wake & flag true, yield calls=1 \\
|
||||
25--30 & order & receiver przed resume stimulus \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
\section*{Predykcja}
|
||||
Czy drugi bajt zmieści się w pełnej kolejce capacity 1? \blank{2cm}.
|
||||
Ile razy handler powinien wywołać yield dla dwóch publikacji? \blank{2cm}.
|
||||
|
||||
\newpage
|
||||
\section{Realny external IRQ i bounded handler}
|
||||
|
||||
\begin{center}
|
||||
\texttt{stimulus: UART[41,42] + GPIO edge + SET\_IRQ}\\
|
||||
$\downarrow$ \texttt{machine external trap / ISR stack}\\
|
||||
$\downarrow$ \texttt{queue FromISR + notify FromISR + clear sources}\\
|
||||
$\downarrow$ \texttt{one yield -- rx-worker -- resume stimulus}
|
||||
\end{center}
|
||||
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{5.3cm}p{3.1cm}X@{}}
|
||||
\toprule Pomiar & Predykcja & Odczyt \\
|
||||
\midrule
|
||||
\texttt{mcause} & \texttt{0x8000000b} & \blank{2.5cm} \\
|
||||
ISR SP różny od task SP & true & \blank{2.5cm} \\
|
||||
external IRQ state po clear & 0 & \blank{2.5cm} \\
|
||||
UART ready przed / po ISR & 1 / 0 & \blank{2.5cm} \\
|
||||
GPIO edge przed / po ISR & 1 / 0 & \blank{2.5cm} \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
\section{UART RX i backpressure}
|
||||
Dwa bajty czekają w modelu rejestrów, lecz queue ma jedno miejsce. Handler ma
|
||||
limit dwóch odczytów; nie wykonuje parsowania ani oczekiwania.
|
||||
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{5.3cm}p{3.1cm}X@{}}
|
||||
\toprule Pomiar & Predykcja & Odczyt \\
|
||||
\midrule
|
||||
queued count / byte & 1 / \texttt{0x41} & \blank{2.5cm} \\
|
||||
dropped count / byte & 1 / \texttt{0x42} & \blank{2.5cm} \\
|
||||
overflow policy & drop-newest & \blank{2.5cm} \\
|
||||
receiver byte & \texttt{0x41} & \blank{2.5cm} \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
Porównaj drop-newest, drop-oldest i overwrite dla UART:\\[.4em]
|
||||
\blank{16cm}\\[.8em]\blank{16cm}
|
||||
|
||||
\newpage
|
||||
\section{Task view i ISR view}
|
||||
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{3.2cm}XX@{}}
|
||||
\toprule Wrapper & Task view & ISR view \\
|
||||
\midrule
|
||||
\texttt{Uart} & enable/configure, test inject & ready/read, bez wait \\
|
||||
\texttt{GpioPin} & direction/write output & edge pending/clear \\
|
||||
\texttt{Queue} & receive(timeout) & send\_from\_isr \\
|
||||
\texttt{Notification} & task odbiera & give\_from\_isr \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
\section{Akumulacja wake i jeden yield}
|
||||
\begin{lstlisting}
|
||||
BaseType_t local = pdFALSE;
|
||||
xQueueSendFromISR(queue, &byte, &local); isr.merge(local);
|
||||
local = pdFALSE;
|
||||
vTaskNotifyGiveFromISR(worker, &local); isr.merge(local);
|
||||
isr.yield_if_needed();
|
||||
\end{lstlisting}
|
||||
|
||||
\noindent\begin{tabularx}{\textwidth}{@{}p{5.3cm}p{3.1cm}X@{}}
|
||||
\toprule Pomiar & Predykcja & Odczyt \\
|
||||
\midrule
|
||||
notification sent/taken & 1 / 1 & \blank{2.5cm} \\
|
||||
higher priority task woken & true & \blank{2.5cm} \\
|
||||
yield requested & true & \blank{2.5cm} \\
|
||||
\texttt{yield\_if\_needed} calls & 1 & \blank{2.5cm} \\
|
||||
receiver tick & 1 & \blank{2.5cm} \\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
|
||||
\section*{Dowód natychmiastowego przełączenia}
|
||||
\begin{itemize}
|
||||
\item receiver widzi \texttt{stimulus\_after=0};
|
||||
\item po powrocie z IRQ stimulus widzi \texttt{receiver\_done=1};
|
||||
\item receiver ustawia GPIO output z bitu 0 bajtu \texttt{0x41}: data=1.
|
||||
\end{itemize}
|
||||
|
||||
Co zmieniłby brak yield przy wake=true?\\[.4em]
|
||||
\blank{16cm}\\[.8em]\blank{16cm}
|
||||
|
||||
\section*{Granica ISR}
|
||||
Parsing, debounce, logowanie i retry są pracą taska. ISR tylko odczytuje bounded
|
||||
FIFO, czyści źródło i publikuje. Static queue/task storage daje heap delta 0.
|
||||
|
||||
\newpage
|
||||
\section{Hazard3/GDB i zaliczenie}
|
||||
\begin{lstlisting}[language=bash]
|
||||
make check
|
||||
riscv64-unknown-elf-gdb build/task01_isr_drivers/prog.elf
|
||||
b isr_drivers_debug_checkpoint
|
||||
\end{lstlisting}
|
||||
\begin{lstlisting}
|
||||
p/x g_mcause
|
||||
p g_uart_status_before_isr
|
||||
p g_uart_status_after_isr
|
||||
p g_gpio_edge_before_isr
|
||||
p g_gpio_edge_after_isr
|
||||
p g_rx_queued
|
||||
p/x g_queued_byte
|
||||
p g_rx_dropped
|
||||
p/x g_dropped_byte
|
||||
p g_notification_taken
|
||||
p g_higher_priority_task_woken
|
||||
p g_isr_yield_calls
|
||||
p g_stimulus_after_seen_by_receiver
|
||||
p g_receiver_done_at_stimulus_resume
|
||||
p g_isr_drivers_pass
|
||||
\end{lstlisting}
|
||||
|
||||
\section*{Zaliczenie}
|
||||
\begin{itemize}
|
||||
\item $\square$ pokazuję realny external IRQ i osobny ISR stack;
|
||||
\item $\square$ używam wyłącznie jawnych metod \texttt{from\_isr};
|
||||
\item $\square$ kolejkuję 0x41 i jawnie liczę drop-newest 0x42;
|
||||
\item $\square$ clear UART/GPIO zmienia status 1 na 0;
|
||||
\item $\square$ akumuluję wake=true i wywołuję yield dokładnie raz;
|
||||
\item $\square$ receiver działa przed resume stimulus i ustawia GPIO=1.
|
||||
\end{itemize}
|
||||
|
||||
\section*{Wyjście}
|
||||
Dlaczego automatyczne zgadywanie task/ISR contextu osłabia API?\\[.5em]
|
||||
\blank{16cm}\\[1em]
|
||||
Gdzie zaimplementujesz parsing i debounce, i dlaczego?\\[.5em]
|
||||
\blank{16cm}
|
||||
|
||||
\vfill
|
||||
\noindent\textbf{Następna karta K16:} integracja usług RTOS, end-to-end trace,
|
||||
memory/stack report, pressure injection i uzasadnienie każdej granicy.
|
||||
\end{document}
|
||||
BIN
Binary file not shown.
Reference in New Issue
Block a user