19: I/O. Mark Handley. Direct Memory Access (DMA)
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1 19: I/O Mark Handley Direct Memory Access (DMA) 1
2 Interrupts Revisited Connections between devices and interrupt controller actually use interrupt lines on the bus rather than dedicated wires. Interrupts are asserted until cleared by CPU. Bus Interrupt Processing Hardware saves state before starting interrupt service routine. At least Program Counter is saved. Other registers may be saved. Where to save? Internal registers? Need to lock out interrupts to prevent registers being overwritten. User stack? Stack pointer might not be valid, or be at end of page. Kernel stack? Need to change MMU context, invalidate cache and TLB. What is the current CPU state anyway? Precise vs imprecise interrupts. 2
3 Precise Interrupts An interrupt that leaves the machine in a well-defined state. 1. The PC is saved in a known place. 2. All instructions before the one pointed at by PC have fully executed. 3. No instructions after the one pointed at by PC have changed any externally visible state. 4. The execution state of the instruction pointed to by the PC is known. Pentium Pro is superscalar, but has precise interrupts for backwards compatibility. Huge cost in interrupt logic within the CPU. Nice for OS writer. Imprecise Interrupts Superscalar and pipelined architectures internally: Execute instructions in parallel. Execute instructions out-of-order. Start to execute branches before outcome of branch condition is known. When an interrupt happens, the execution state of the CPU is not represented by the PC alone. Unwinding all this in the CPU when an interrupt happens is really expensive. Alternative is to dump lots of state, and let the OS figure out what was going on. Save is expensive. Figuring out what happened in OS is complex. Can make interrupts rather slow. 3
4 Principles of I/O Software Device independence Write programs that can access any I/O device without knowing details of device in advance. Eg: same file read API for floppy, hard drive, CD-ROM, DVD, network socket, tape? Uniform naming Name of a file or device should be a string or an integer, not depending on the device properties. On Unix everything is a file. open(): filename, /dev/audio, /dev/st0 Principles of I/O Software Error handling Handle error at the lowest possible level that can effectively handle it. If device controller discovers a read error, it may be able to correct it using CRC. If not, then device driver may be able to re-try the read, as many read-errors are transient. Only pass the error up if lower layers have failed to recover. 4
5 Principles of I/O Software Synchronous vs. asynchronous transfers Most I/O is asynchronous at a low level: Program DMA controller, and get on with other tasks. Interrupt signals completion. User programs usually don t want to see the interrupts. Device driver may provide an API that blocks while waiting, and unblocks when interrupt arrives. Principles of I/O Software Buffering Data coming off a device cannot be stored in final destination. Need to look at data before deciding where to send it. Timeliness constrains vs VM and process scheduling. Sharable vs. dedicated devices Some devices are sharable: Many users may have files open at once on a disk. Some devices are not: writing blocks to a tape. Some might be either: audio mixing OS must support different device locking or different APIs for different device types. 5
6 I/O Mechanisms Programmed I/O Continually poll device, and read/write data when device is ready. Interrupt-Driven I/O Device interrupts when ready for next read/write. I/O Using DMA Use DMA controller to do reads/writes. Interrupt only when DMA controller is finished. Programmed I/O Steps in printing a string: 1. User program acquires printer, and requests printing ABCDEFGH 2. Buffer copied to kernel to avoid later context switches. 3. OS sends character to printer. 4. OS polls printer controller status register until printer can receive next character. 6
7 Programmed I/O OS pseudocode to service a simple print request: Print System Call: copy_from_user(buffer, kernbuf, size); /*copy to to kernel buffer*/ for for (i=0; i<size; i++) {{ /* /* loop for for each char */ */ while (*printer_status_reg!=!= READY){}; /* /* wait until printer ready*/ *printer_data_register = kernbuf[i]; /* /* output a character */ */ }} return_to_user(); /* /* resume user user process */ */ Interrupt-Driven I/O OS pseudocode to service a simple print request using interrupt-driven I/O: Print system call: copy_from_user(buffer, kernbuf, size); size); enable_interrupts(); while while (*printer_status_reg!=!= READY){}; *printer_data_register = kernbuf[0]; i i = 1; 1; scheduler(); Interrupt Service Routine: if if (size (size- - i i == == 0) 0) {{ unblock_user_process(); }} else else {{ *printer_data_register = kernbuf[i]; i++; i++; }} acknowledge_interrrupt(); return_from_interrupt(); 7
8 I/O using DMA OS pseudocode to service a simple print request using DMA: Print system call: copy_from_user(buffer, kernbuf, size); size); setup_dma_controller(kernbuf, size); size); scheduler(); Interrupt Service Routine: acknowledge_interrrupt(); unblock_user_process(); return_from_interrupt(); I/O Tradeoffs DMA: one interrupt per transfer. Interrupt-driven I/O: one interrupt per word. Programmed I/O: CPU busy waits. Which is best? 8
9 I/O Software Layers Interrupt Handlers (1) Interrupt handlers are best hidden Have driver starting an I/O operation block until interrupt notifies of completion Interrupt procedure does its task, then unblocks the driver that started the transfer. 9
10 OS Software Tasks in Interrupt Handler 1) Save any registers not already saved by interrupt hardware 2) Set up context for interrupt service routine (TLB, MMU, page table) 3) Set up stack for interrupt service routine. 4) Ack interrupt controller, reenable interrupts 5) Copy process registers from where saved to process table. 6) Run service procedure (interrogate device registers) 7) Choose process to run next. Interrupt may have unblocked a process. 8) Set up MMU context for process to run next. (+ TLB in some h/w) 9) Load new process s registers, including PSW. 10)Start running the new process Device Drivers Device driver usually ships with device rather than with OS. Part of kernel: compiled in (old) or dynamically loaded module (new). Communications between drivers and device controllers goes over the bus 10
11 Device Drivers Two main categories: block devices and character devices. Each category has a standard interface. Main purposes: Initialize device (may load firmware) Accept abstract read/write calls from device-independent software above, and map into device-specific operations. Sanity check input parameters. Queue request is device is in use. Enable device if necessary (spin up motors, etc) Send commands to device to perform task. Block until interrupt indicates completion. Return syscall status to user. Device Driver Complications Interrupts can happen while device driver is running. Can cause device driver to run! Code must generally be re-entrant. Hot-pluggable devices: Device may appear after boot time. interrupt allocations may change. Device may disappear at any time. I/O transfers must be aborted. Pending requests and kernel datastructures cleaned up. Syscalls return appropriate failure codes. 11
12 Device-Independent I/O Software Functions of the device-independent I/O software: Uniform interfacing for device drivers. Buffering Error reporting Allocating and releasing dedicated devices Providing a device-independent block size. Device-Independent I/O Software: Uniform Interface to Device Drivers Standard interface includes: Device naming (how to find major/minor device numbers) Protection Not all devices are identical, but only a small number of types 12
13 Device-Independent I/O Software: Buffering (a) Unbuffered input (b) Buffering in user space (c) Buffering in the kernel followed by copying to user space (d) Double buffering in the kernel Device-Independent I/O Software: Buffering Networking may involve many copies 13
14 User-Space I/O Software User-space I/O: language wrappers for system calls. I/O formatting (printf, scanf, etc) spooling 14
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