SysTick Interrupt Example
Basic timer included in all
Cortex-M4 devices.
Interrupt Summary
Determine the name of the interrupt
handler (from vector table) & interrupt
index (from derivative.h)
Create interrupt handler function
Create interrupt setup function
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EEE20003 Embedded Microcontrollers
Interrupt handler
Use whatever name is given in the
vector table.
Should clear the interrupt flag (if it
exists) check hardware details.
Carry out whatever function is needed.
May need to do some setup for the
next interrupt e.g. schedule timer.
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EEE20003 Embedded Microcontrollers
Interrupt Setup
Initialise hardware
Do whatever setup is required e.g. set tick
rate etc.
Enable interrupt signal (unmask it) in
hardware
Enable interrupt signal (unmask it) in
NVIC
NVIC_EnableIrq(int interruptIndex)
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IRQ Handler or ISR
The interrupt handler resembles a subroutine
or C function.
Its address must be placed in the appropriate
entry of the vector table so that it may be
called when triggered.
The Cortex-M family uses a interrupt
technique that allows the direct use of C
functions as interrupt handlers.
The correct registers are saved and restored
by hardware (matches ARM-ABI used by C).
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EEE20003 Embedded Microcontrollers
SysTick Timer
This is a basic timer that is included in
all Cortex-M3 & M4 devices.
Real-time Operating Systems (RTOSs)
require at least a basic timer that is
able to generate regular interrupts.
Inclusion in the processor core allows
the creation of chip independent RTOS.
A good (simple) example of a interrupt
source.
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EEE20003 Embedded Microcontrollers
Hardware
SysTick->LOAD
Reference
clock
Reload register
CPU
SysTick->VAL
0
1
24-bit down counter
Core clock
Interrupt Request
ENABLE_MASK
SysTick->CTRL
CLKSOURCE_MASK
Control
TICKINT_MASK
Timer automatically re-loads
when it reaches zero.
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EEE20003 Embedded Microcontrollers
Software Routine
uint32_t SysTick_Config(uint32_t ticks) {
if ((ticks - 1) > SysTick_LOAD_RELOAD_Msk) {
/* Reload value impossible */
return (1);
}
/* Set reload register */
SysTick->LOAD = ticks - 1;
Code to
Set period (interrupt rate)
Enable interrupts
Enable timer
/* Set Priority for Systick Interrupt */
NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);
/* Load the SysTick Counter Value */
SysTick->VAL
= 0;
/* Configure Systick */
SysTick->CTRL =
SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk
|
SysTick_CTRL_ENABLE_Msk;
// Use system core clock
// Enable interrupts
// Enable timer
/* Function successful */
return (0);}
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EEE20003 Embedded Microcontrollers
Vector Table
Weakly assigns to the
default handler
Can be overridden.
...
void SysTick_Handler(void) WEAK_DEFAULT_HANDLER;
...
VectorTable const __vector_table = {
/* omitted rows */
SVC_Handler,
/* System Service Call via SVC instruction */
Vector table entry for
DebugMon_Handler, /* Debug Monitor*/
Timer
0,
/* Reserved SysTick
*/
PendSV_Handler,
/* Pendable request for system service */
SysTick_Handler,
/* System Tick Timer */
/* External Interrupts */
DMA0_IRQHandler,
/* DMA channel 0 interrupt
DMA1_IRQHandler,
/* DMA channel 1 interrupt
/* omitted rows */
};
*/
*/
The name of the actual interrupt handler function
must agree exactly with the vector table entry
It must also have "C" linkage.
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SysTick Handler
Code to
Handle Tick
/*
* This function is used for the
* System Timer interrupt handler.
*/
void SysTick_Handler(void) {
...
}
Name agrees with
Vector Table entry
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