可以看到PL端的中斷，通過SPI連接到GIC上,在雙核模式下使用PL端的中斷時，需要對中斷進行綁定。 # 搭建硬件系統 為了快速上手，在搭建硬件系統時，設計一個定時器模塊，該模塊完成的功能就是每隔1s和2s向ZYNQ核提供一個PL端的中斷。 timer模塊是產生PL端中斷的模塊，該模塊是自行使用Vivado封裝的一個模塊，對應代碼如下：  ```verilog module timer( input wire clk , input wire rst_n , output wire pl_intr_0 , output wire pl_intr_1 ); //========================================== //parameter define //========================================== parameter ONE_SEC = 50000000; parameter TWO_SEC = ONE_SEC << 1; parameter ONE_US = 500; //========================================== //internal signals //========================================== reg [31:0] cnt_1s ; wire add_cnt_1s ; wire end_cnt_1s ; reg [31:0] cnt_2s ; wire add_cnt_2s ; wire end_cnt_2s ; reg pl_intr_1_r ; reg pl_intr_0_r ; assign pl_intr_0 = pl_intr_0_r; assign pl_intr_1 = pl_intr_1_r; //----------------cnt_1s------------------ always @(posedge clk or negedge rst_n) begin if (rst_n == 1'b0) begin cnt_1s <= 'd0; end else if (add_cnt_1s) begin if(end_cnt_1s) cnt_1s <= 'd0; else cnt_1s <= cnt_1s + 1'b1; end else begin cnt_1s <= 'd0; end end assign add_cnt_1s = 1; assign end_cnt_1s = add_cnt_1s && cnt_1s == (ONE_SEC - 1); //----------------cnt_2s------------------ always @(posedge clk or negedge rst_n) begin if (rst_n == 1'b0) begin cnt_2s <= 'd0; end else if (add_cnt_2s) begin if(end_cnt_2s) cnt_2s <= 'd0; else cnt_2s <= cnt_2s + 1'b1; end else begin cnt_2s <= 'd0; end end assign add_cnt_2s = 1; assign end_cnt_2s = add_cnt_2s && cnt_2s == (TWO_SEC - 1); //----------------pl_intr_0_r------------------ always @(posedge clk or negedge rst_n) begin if (rst_n==1'b0) begin pl_intr_0_r <= 1'b0; end else if (cnt_1s == (ONE_SEC - ONE_US - 1)) begin pl_intr_0_r <= 1'b1; end else if (end_cnt_1s) begin pl_intr_0_r <= 1'b0; end end //----------------pl_intr_1_r------------------ always @(posedge clk or negedge rst_n) begin if (rst_n==1'b0) begin pl_intr_1_r <= 1'b0; end else if (cnt_2s == (TWO_SEC - ONE_US - 1)) begin pl_intr_1_r <= 1'b1; end else if (end_cnt_2s) begin pl_intr_1_r <= 1'b0; end end endmodule ``` # 硬中斷初始化流程 | 步驟 | 函數 | |---|---| |初始化異常處理系統|Xil\_ExceptionInit()| |初始化中斷控制器|XScuGic_LookupConfig()，XScuGic_CfgInitialize()| |注冊異常回調函數|Xil\_ExceptionRegisterHandler()| |將中斷控制器與對應的中斷ID相連接|XScuGic\_Connect()| |設置中斷類型和優先級|XScuGic\_SetPriTrigTypeByDistAddr()| |硬中斷映射到對應的CPU|XScuGic\_InterruptMaptoCpu()| |使能中斷控制器|XScuGic\_Enable()| |使能異常處理系統|Xil\_ExceptionEnable()| 程序設計 ??程序設計十分簡單，只需要在CPU0和CPU1接收到來自PL端的對應的中斷時，就讓其打印一下信息就行了。 CPU0應用程序 ??在設置硬中斷時，需要設置中斷的類型和優先級，使用到的函數是XScuGic_SetPriTrigTypeByDistAddr(DIST_BASE_ADDR, CPU0_HW_INT_ID, 0x20, 0x03); 其中第一個參數是，中斷設置的基地址，ZYNQ的中斷設置都有一個基地址，對各個中斷號的中斷的響應，可以通過中斷號來進行偏移，除此之外還需要設置中斷的優先級，中斷的優先級是以8為遞增的，也就是中斷的優先級有0x00,0x08,0x10,0x18等等，優先級最低的是0xF8;中斷的類型根據中斷的類型不同可以設置為不同類型的中斷，其中私有中斷（PPI）默認為上升沿觸發，軟中斷(SFI),共享中斷（SPI）可以設置為電平中斷和邊沿中斷。 ```c #include <stdio.h> #include "platform.h" #include "xil_printf.h" #include "xparameters.h" #include "xscugic.h" #include "sleep.h" // OCM #define OCM3_ADDR 0xFFFF0000 #define GIC_DEV_ID XPAR_PS7_SCUGIC_0_DEVICE_ID #define DIST_BASE_ADDR XPAR_PS7_SCUGIC_0_DIST_BASEADDR //software interrupt ID is 0x00~0x0F #define CPU0_SW_INT_ID 0x0D //CPU0的軟中斷ID,用于中斷CPU0 #define CPU1_SW_INT_ID 0x0E //CPU1的軟中斷ID,用于中斷CPU1 //PL 到 arm的中斷 #define CPU0_HW_INT_ID 61 //CPU0的硬中斷,1S計數器中斷 #define CPU1_HW_INT_ID 62 //CPU1的硬中斷,2S計數器中斷 static XScuGic gicInst; static XScuGic_Config * gicCfg_Ptr; void hwIntrHandler(void * CallBackRef) { printf("CPU0 is interrupted by HW\n"); } int initGic() { int status; //1. 初始化異常處理系統 Xil_ExceptionInit(); //2. 初始化中斷控制器 gicCfg_Ptr = XScuGic_LookupConfig(GIC_DEV_ID); status = XScuGic_CfgInitialize(&gicInst, gicCfg_Ptr, gicCfg_Ptr->CpuBaseAddress); if(status != XST_SUCCESS) { printf("initialize GIC failed\n"); return XST_FAILURE; } //3. 注冊異常回調函數 Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT, (Xil_ExceptionHandler)XScuGic_InterruptHandler, &gicInst); //4. 連接GIC對應的硬中斷ID status = XScuGic_Connect(&gicInst, CPU0_HW_INT_ID, (Xil_InterruptHandler)hwIntrHandler, &gicInst); if(status != XST_SUCCESS) { printf("Connect GIC failed\n"); return XST_FAILURE; } XScuGic_SetPriTrigTypeByDistAddr(DIST_BASE_ADDR, CPU0_HW_INT_ID, 0x20, 0x03); //6. 將硬中斷綁定到CPU0 XScuGic_InterruptMaptoCpu(&gicInst, 0x00, CPU0_HW_INT_ID); //7. 使能硬中斷 XScuGic_Enable(&gicInst, CPU0_HW_INT_ID); //8. 使能異常處理系統 Xil_ExceptionEnable(); return status; } int main() { //初始化中斷控制器 int status; status = initGic(); if(status != XST_SUCCESS) { printf("initialize GIC failed\n"); return XST_FAILURE; } while(1) { } return 0; } ``` ## CPU1應用程序 ```c #include <stdio.h> #include "platform.h" #include "xil_printf.h" #include "xparameters.h" #include "xscugic.h" #include "sleep.h" // on chip memory3 address #define OCM3_ADDR 0xFFFF0000 #define GIC_DEV_ID XPAR_PS7_SCUGIC_0_DEVICE_ID #define DIST_BASE_ADDR XPAR_PS7_SCUGIC_0_DIST_BASEADDR //software interrupt ID is 0x00~0x0F #define CPU0_SW_INT_ID 0x0D //CPU0的軟中斷ID,用于中斷CPU0 #define CPU1_SW_INT_ID 0x0E //CPU1的軟中斷ID,用于中斷CPU1 #define CPU0_HW_INT_ID 61 //CPU0的硬中斷,1S計數器中斷 #define CPU1_HW_INT_ID 62 //CPU1的硬中斷,2S計數器中斷 static XScuGic gicInst; static XScuGic_Config * gicCfg_Ptr; void hwIntrHandler(void * CallBackRef) { usleep(1000); printf("CPU1 is interrupted by HW\n"); } int initGic() { int status; //1. 初始化異常處理系統 Xil_ExceptionInit(); //2. 初始化中斷控制器 gicCfg_Ptr = XScuGic_LookupConfig(GIC_DEV_ID); status = XScuGic_CfgInitialize(&gicInst, gicCfg_Ptr, gicCfg_Ptr->CpuBaseAddress); if(status != XST_SUCCESS) { printf("initialize GIC failed\n"); return XST_FAILURE; } //3. 注冊異常回調函數,中斷類型的異常 Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT, (Xil_ExceptionHandler)XScuGic_InterruptHandler, &gicInst); //4. 連接GIC對應的硬中斷ID status = XScuGic_Connect(&gicInst, CPU1_HW_INT_ID, (Xil_InterruptHandler)hwIntrHandler, &gicInst); if(status != XST_SUCCESS) { printf("Connect GIC failed\n"); return XST_FAILURE; } //5. 設置硬中斷優先級和中斷類型 XScuGic_SetPriTrigTypeByDistAddr(DIST_BASE_ADDR, CPU1_HW_INT_ID, 0x20, 0x03); //6. 將硬中斷綁定到CPU0(雙使用雙核時，需要對硬中斷進行一次映射) XScuGic_InterruptMaptoCpu(&gicInst, 0x01, CPU1_HW_INT_ID); //7. 使能硬中斷 XScuGic_Enable(&gicInst, CPU1_HW_INT_ID); //8. 使能異常處理系統 Xil_ExceptionEnable(); return status; } int main() { //初始化中斷控制器 int status; status = initGic(); if(status != XST_SUCCESS) { printf("initialize GIC failed\n"); return XST_FAILURE; } while(1) { } return 0; } ```