Robot interrupt function processing - OTC Odichi

Create Date: 2024-8-30 12:03:23|Source: OTC/Odichi

Interruption means that in the process of computer operation, when there is some unexpected situation that requires the intervention of the host, the machine can automatically stop the running program and transfer to the program that deals with the new situation, and return to the original suspended program to continue to run after processing.

                              Robot interrupt function processing - OTC Odichi

Interrupt Function:

(1) Improve the efficiency of the computer system. The operating speed of the processing machine in the computer system is much higher than the operating speed of the peripheral equipment. After aborting, the work between them can be harmonized.

(2) Maintain the reliable and normal operation of the system. The programmer cannot directly interfere with and manipulate the machine, and it is necessary to send a plea to the operating system through the suspension system, and the operating system will complete the human interference.

(3) Meet the requirements of real-time processing. In the real-time system, various monitoring and control devices randomly ask the processor to stop it, and the processor responds and processes it at any time.

(4) Provide on-site treatment methods. The processor is equipped with various fault detection and error diagnosis components, and once a fault or error is discovered, it immediately sends a request for suspension, and the fault is recorded and isolated on the spot, providing the necessary basis for further processing.

Interruption Priority:

When several abort sources together issue a abort plea at a given time, the processor responds only to the abort source with the highest priority. When a request from another abort source arises while the processor is running a service abort, if the latter has a lower priority than the former, the processor ignores it, and the processor responds to the latter and enters into what is known as a "nested abort".

Interrupt the processing process:

(1) The source of the suspension sends a request for a suspension;

(2) Determine whether the processor agrees to suspend and whether the source of suspension is blocked;

(3) priority queuing;

(4) If the processor completes the execution of the instructions at that time or fails to perform the instructions at that time, the program at that time shall be terminated immediately, the breakpoint address and the current state of the processor shall be maintained, and the corresponding suspension service program shall be transferred;

(5) Perform the procedures for discontinuing the service;

(6) Restore the state that has been maintained, and perform the "interrupt back" instruction to return to the suspended program or transfer to other programs.

The first four operations in the above process are performed by hardware, and the last two are performed by software.

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