1. Embedded Systems Design 1 Lecture Set 8 MCS-51 Interrupts

2. Embedded Systems Design 2 Interrupts An interrupt is the occurrence of an event that causes a temporary suspension of a program while the condition is serviced by another program. –Allow a system to respond asynchronously to an event and deal with the event while another program is executing. An interrupt driven system gives the illusion of doing many things simultaneously. –Of course, the CPU cannot execute more than one instruction at a time. It can temporarily suspend execution of one program, execute another, then return to the first program. –In a way, interrupts are like subroutines. Except that one does not know when the interrupt code will be executed.

3. Embedded Systems Design 3 Example An embedded system is controlling a Microwave oven. –The main program is controlling the power element of the oven. –The use presses a key on the front panel to cancel the operation or change the length of cooking time. –The main program is interrupted. The ISR takes over, reads the keypad and changes the cooking conditions accordingly, then finishes by passing control back to the main program. –The main program continues according to the new conditions set by the ISR. The important aspect is that the keypad entry occurs asynchronously with respect to the main program. –The main program cannot anticipate when the key will be pressed.

4. Embedded Systems Design 4 Interrupts vs. Polling Polling: –CPU monitors all served devices continuously, looking for a “service request flag” –Whenever it sees a request, it serves the device and then keeps polling –CPU is always “busy” with polling doing the “while any request” loop Interrupts –If and when a device is ready and needs attention, it informs the CPU –CPU drops whatever it was doing and serves the device and then returns back to its original task –CPU is always “free”, when not serving any interrupts

5. Embedded Systems Design 5 Interrupt Service Routines CPUs have fixed number of interrupts –Every interrupt has to be associated with a piece of code called “Interrupt Service Routine”, or ISR. –If interrupt-x is received by CPU, the ISR-x is executed CPU architecture defines a specific “code address” for each ISR, which is stored in the, –“Interrupt vector Table (IVT)” ISRs are basically “subroutines”, but they end with the RETI, instruction instead of RET When an interrupt occurs, the CPU fetches its ISR code address from the IVT and executes it.

6. Embedded Systems Design 6 Interrupt Execution 1. CPU finishes the instruction it is currently executing and stores the PC on the stack 2. CPU saves the current status of all interrupts internally 3. Fetches the ISR address for the interrupt from IVT and jumps to that address 4. Executes the ISR until it reaches the RETI instruction 5. Upon RETI, the CPU pops back the old PC from the stack and continues with whatever it was doing before the interrupt occurred

7. Embedded Systems Design 7 MCS-51 Interrupts There are 5 interrupts in the 8051. –Clones may differ. –Two external interrupts (INT0 and INT1), two timer interrupts (TF0 and TF1) and one serial port interrupt (SI). Interrupts can be individually enabled or disabled. This is done in the IE (Interrupt Enable) register (A8H). –IE is bit addressable. All interrupts correspond to bits in registers. –Therefore, it is possible to cause an interrupt by setting the appropriate bit in the appropriate register. The end result is exactly as if the hardware interrupt occurred.

8. Embedded Systems Design 8 The IE Register MSBLSB EA-ET2ESET1EX1ET0EX0 BitNameDescription IE.7EAEnable/Disable all interrupts If 0 all interrupts are disabled. If 1, interrupts are enabled based on their individual bits IE.6-Reserved IE.5ET2Enable/Disable Timer 2 interrupt (8052) IE.4ESEnable/Disable Serial Input Interrupt IE.3ET1Enable/Disable Timer 1 Interrupt (TF1) IE.2EX1Enable/Disable External Interrupt 1 (INT1) IE.1ET0Enable/Disable Timer 0 Interrupt (TF0) IE.0EX0Enable/Disable External Interrupt 0 (INT0) Putting a 1 in a bit enables its interrupt. Putting a 0 masks that interrupt.

9. Embedded Systems Design 9 Interrupt Priority The 8051 implements 2 types of interrupt priority. User Defined Priority. –Using the IP register, the user can group interrupts into two levels – high and low. An interrupt is assigned a “high” priority level by setting its bit in the IP register to 1. If the bit is set to 0, the interrupt gets a “low” priority. Automatic Priority. –Within each priority level, a strict order is observed. Interrupts are ordered as follows: INT0, TF0, INT1, TF1, SO.

10. Embedded Systems Design 10 The IP Register Putting a 1 in a bit assigns its interrupt to the high priority level. MSBLSB --PT2PSPT1PX1PT0PX0 BitNameDescription IP.7-Reserved IP.6-Reserved IP.5ET2Timer 2 interrupt priority (8052) IP.4ESSerial Port Interrupt priority IP.3ET1Timer 1 Interrupt priority (TF1) IP.2EX1External Interrupt 1 priority (INT1) IP.1ET0Timer 0 Interrupt priority (TF0) IP.0EX0External Interrupt 0 priority (INT0)

11. Embedded Systems Design 11 Pending Interrupts If an interrupt occurs while it is disabled, or while a higher priority interrupt is active, it becomes pending. –As soon as the interrupt is enabled, it will cause a call. –It is also possible to cancel it by software by clearing the appropriate bit in the register.

12. Embedded Systems Design 12 Response Time Response time is the amount of time between the occurrence of the interrupt event and the start of execution of the service routine. For the MCS-51, the shortest possible response time is 3 machine cycles and the longest is 9. Interrupts are not recognized during specific instructions. An additional instruction must complete before interrupts will be recognized. –RETI and any instruction that modifies the contents of IE or IP.

13. Embedded Systems Design 13 Activation Levels – INT0 and INT1 The activation for INT0 and INT1 can be configured to be level-triggered or edge-triggered based on bits IT0 and IT1 in the TCON register –For level-triggered (ITx = 0, default), a low on the pin causes an interrupt. –For edge-triggered (ITx = 1), a high-to-low transition causes the interrupt. MSBLSB TF1TR1TF0TR0IE1IT1IE0IT0

14. Embedded Systems Design 14 INT0 and INT1 (Contd.) If INTx is configured as edge-triggered, then the change in value of the flag bit IEx in the TCON register is what causes the interrupt. –It can be forced through software. If it is configured as level-triggered, then the interrupting device is what controls the value of the flag. The flag will be automatically cleared at the end of the ISR. –After the RETI. Prevents interrupts of the same type within an interrupt.

15. Embedded Systems Design 15 Activation Levels – TF0 and TF1 The TF0 and TF1 interrupts are essentially edge- triggered. –The interrupt occurs when the counter goes from FFFFH to 0000H. The flag goes from low to high. These flags will be automatically cleared when the ISR is started.

16. Embedded Systems Design 16 MCS-51 IVT SymbolAddressInterrupt Source RESET00HPower Up or Reset EXTI003HExternal Interrupt 0 TIMER00BHTimer 0 Interrupt EXTI113HExternal Interrupt 1 TIMER11BHTimer 1 Interrupt SINT23HSerial Port Interrupt