ZYNQ中断例程

GPIO 中断系统初始化流程：
第一步:初始化 cpu 的异常处理功能
第二步：初始化中断控制器
第三步：向 CPU 注册异常处理回调函数；
第四步：将中断控制器中的对应中断 ID 的中断与中断控制器相连接
第五步：设置 GPIO 的中断类型，比如高电平中断、低电平中断、上升沿中断、
下降沿中断等。
第六步：设置 GPIO 中断回调函数，这里设置的回调函数是用于用户使用的。
第七步：使能 GPIO 的对应 PIN 的中断
第八步：使能中断控制器
第九步：使能异常处理功能
注意：AMP模式下对来自PL端的中断要用XScuGic_InterruptMaptoCpu()函数将CPU和中断对应起来
GIC在ZYNQ中只有一个，当两个CPU都需要中断时，要编程确定中断初始化的顺序

1.PS端GPIO中断

/*使用中断：用PS端口的GPIO操控PS端口的LED
*/
#include "stdio.h"
#include "xparameters.h"
#include "xgpiops.h"
#include "sleep.h"
#include "xscugic.h"
//器件ID
#define GPIO_DEVICE_ID  	XPAR_XGPIOPS_0_DEVICE_ID
#define INTC_DEVICE_ID		XPAR_SCUGIC_SINGLE_DEVICE_ID
//GPIO的中断号   52
#define GPIO_INTERRUPT_ID	XPAR_XGPIOPS_0_INTR//核心板上PS端LED
#define	MIO_0_LED			0
//核心板上PS端按键
#define MIO_12_KEY 			12
//实例指针
XGpioPs_Config * 	ConfigPtr	;
XScuGic_Config *	IntcConfig	; /* Instance of the interrupt controller */
//实例
XGpioPs 			Gpio		;	/* The driver instance for GPIO Device. */
XScuGic 			Intc		; 	/* The Instance of the Interrupt Controller Driver */void SetupInterruptSystem(XScuGic *GicInstancePtr, XGpioPs *Gpio,u16 GpioIntrId);
void IntrHandler();u32 key_press = 0;int main(){printf("GPIO INTERRUPT TEST!\n\r");u32 led_value = 0;//根据器件ID,查找器件的配置信息,返回值是一个结构体指针（XGpioPs_Config *）ConfigPtr = XGpioPs_LookupConfig(GPIO_DEVICE_ID);//初始化GPIO驱动XGpioPs_CfgInitialize(&Gpio, ConfigPtr,ConfigPtr->BaseAddr);//设置GPIO方向(0输入 1输出)XGpioPs_SetDirectionPin(&Gpio, MIO_0_LED, 1);XGpioPs_SetDirectionPin(&Gpio, MIO_12_KEY, 0);//设置输出使能(0关闭 1打开)XGpioPs_SetOutputEnablePin(&Gpio, MIO_0_LED, 1);//设置中断系统SetupInterruptSystem(&Intc, &Gpio, GPIO_INTERRUPT_ID);//写数据到GPIOwhile(1){if(key_press){XGpioPs_IntrClearPin(&Gpio, MIO_12_KEY);led_value = ~led_value;key_press = 0;//清除之前的中断状态寄存器(int_state)XGpioPs_WritePin(&Gpio,MIO_0_LED, led_value);//延时消抖usleep(10000);XGpioPs_IntrEnablePin(&Gpio, MIO_12_KEY);//打开MIO的中断使能信号}}return 0;
}void SetupInterruptSystem(XScuGic *GicInstancePtr, XGpioPs *Gpio,u16 GpioIntrId)
{//查找器件配置信息并进行初始化IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);XScuGic_CfgInitialize(GicInstancePtr, IntcConfig,IntcConfig->CpuBaseAddress);Xil_ExceptionInit();//初始化ARM处理器异常句柄Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,(Xil_ExceptionHandler)XScuGic_InterruptHandler,GicInstancePtr);//给IRQ注册异常处理程序Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ);//使能处理器的中断XScuGic_Connect(GicInstancePtr, GpioIntrId,(Xil_ExceptionHandler)IntrHandler,(void *)Gpio);//关联中断处理函数，当中断发生时，程序执行第三个输出变量函数XScuGic_Enable(GicInstancePtr, GpioIntrId);//为GPIO器件使能中断XGpioPs_SetIntrTypePin(Gpio, MIO_12_KEY, XGPIOPS_IRQ_TYPE_EDGE_FALLING);//设置指定引脚的中断触发类型XGpioPs_IntrEnablePin(Gpio, MIO_12_KEY);//打开MIO的中断使能信号
}void IntrHandler(){printf("interrupt detect!\n\r");key_press = 1;XGpioPs_IntrDisablePin(&Gpio, MIO_12_KEY);//关闭中断
}

PL端GPIO触发

/** GPIO中断实验* */
#include <stdio.h>
#include "xil_printf.h"
#include "xgpiops.h"
#include "xparameters.h"
#include "sleep.h"
#include "xscugic.h"#define GPIO_DEVICE_ID  	XPAR_XGPIOPS_0_DEVICE_ID 	//GPIO设备ID
#define INTC_DEVICE_ID		XPAR_PS7_SCUGIC_0_DEVICE_ID	//中断ID#define GPIO_INTR_ID 		XPAR_XGPIOPS_0_INTR			//GPIO的中断序列号#define SW_BANK_ID			XGPIOPS_BANK2//EMIO的引脚号
#define SW0 	54						//EMIO的54引脚
#define LED0	55						//EMIO的55引脚
#define LED1	56						//EMIO的56引脚static XGpioPs 			GpioPs;			//GPIO实例
static XGpioPs_Config*	GpioCfgPtr;		//GPIO初始化指针
static XScuGic 			GicPs; 			//中断控制器实例
static XScuGic_Config*  GicPsPtr;		//中断控制器指针int initGpio();
int setup_Interrupt();
void intrHandler(void * CallBackRef,u32 Bank,u32 status);
void breath_led();int main(){initGpio();print("GPIO 初始化成功！\n");setup_Interrupt();print("GPIO interrupt 初始化成功！\n");while(1){}return 0;
}int initGpio(){int status;GpioCfgPtr = XGpioPs_LookupConfig(GPIO_DEVICE_ID);status = XGpioPs_CfgInitialize(&GpioPs,GpioCfgPtr,GpioCfgPtr->BaseAddr);if(status != XST_SUCCESS){return status;}XGpioPs_SetDirectionPin(&GpioPs,LED0,0x01);XGpioPs_SetDirectionPin(&GpioPs,LED1,0x01);XGpioPs_SetOutputEnablePin(&GpioPs,LED0,0x01);XGpioPs_SetOutputEnablePin(&GpioPs,LED1,0x01);XGpioPs_SetDirectionPin(&GpioPs,SW0,0x00);XGpioPs_SetOutputEnablePin(&GpioPs,SW0,0x00);return XST_SUCCESS;
}int setup_Interrupt(){int status;
//1.初始化异常处理函数Xil_ExceptionInit();
//2.初始化中断设备控制器GicPsPtr = XScuGic_LookupConfig(INTC_DEVICE_ID);status = XScuGic_CfgInitialize(&GicPs,GicPsPtr,GicPsPtr->CpuBaseAddress);if(status != XST_SUCCESS){return status;}
//3.注册异常处理函数(中断异常ID,异常处理函数，向异常处理函数里面传入的参数)Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,(Xil_ExceptionHandler)XScuGic_InterruptHandler,&GicPs);
//4.连接中断处理函数(中断控制器的实例,GPIO的中断ID,中断处理函数,一般是被连接设备的指针)status = XScuGic_Connect(&GicPs,GPIO_INTR_ID,(Xil_InterruptHandler)XGpioPs_IntrHandler,&GpioPs);if(status != XST_SUCCESS){return status;}
/*5.设置中断类型(驱动实例，GPIO所在的bankID,32位的掩码对应bank的32个引脚(0电平敏感1边沿敏感)，* 如果设置为电平有效则该次出设置高电平还是低电平有效)，如果设置为边沿触发则此处设置是单边沿还是双边沿*/XGpioPs_SetIntrType(&GpioPs,SW_BANK_ID,0xffffffff,0x00,XGPIOPS_IRQ_TYPE_EDGE_RISING);
//6.设置GPIO回调函数，产生中断时进入此函数XGpioPs_SetCallbackHandler(&GpioPs,(void *) &GpioPs,intrHandler);
//7.使能对应PIN的中断XGpioPs_IntrEnable(&GpioPs,SW_BANK_ID,1<<(SW0-54));
//8.使能中断控制器中GPIO的中断XScuGic_Enable(&GicPs,GPIO_INTR_ID);
//9.使能异常处理Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ);return	XST_SUCCESS;
}void intrHandler(void * CallBackRef,u32 Bank,u32 status){XGpioPs * GpioPtr;GpioPtr = (XGpioPs *)CallBackRef;u32 intrstatus;//判断中断是否由指定引脚产生，是则继续中断处理函数intrstatus = XGpioPs_IntrGetStatusPin(GpioPtr,SW0);if(intrstatus == 1){//清除中断标志，关闭中断引脚防止二次进入中断XGpioPs_IntrClearPin(GpioPtr,SW0);XGpioPs_IntrDisablePin(GpioPtr,SW0);u32 readSW;//按键消抖int cnt;while(cnt <100){readSW = XGpioPs_ReadPin(GpioPtr,SW0);if(readSW == 1){cnt ++;}else{cnt = 0;}usleep(1000);}readSW = XGpioPs_ReadPin(GpioPtr,SW0);printf("readSW = %d\n",(int)readSW);if(readSW == 0){XGpioPs_WritePin(GpioPtr,LED1,0x01);}}//打开中断使能XGpioPs_IntrEnablePin(GpioPtr,SW0);
}void breath_led(){initGpio();int i,j;int led = 1;while(1){for(i=0;i<1000;i++){for(i=0;i<1000;i++){usleep(1);if(j<i){XGpioPs_WritePin(&GpioPs,LED0,led);}else{XGpioPs_WritePin(&GpioPs,LED0,~led);}}}}
}

PL端EMIO中断以及串口中断

#include <stdio.h>
#include "platform.h"
#include "xil_printf.h"
#include "AXI_reglist.h"
#include "xparameters.h"
#include "xgpiops.h"
#include "xscugic.h"
#include "xuartps.h"
#include "sleep.h"#define GPIO_DEV_ID 		XPAR_PS7_GPIO_0_DEVICE_ID
#define GPIO_INTERRUPT_ID	XPS_GPIO_INT_ID 		//来自FPGA的EMIO中断
#define GIC_ID  			XPAR_PS7_SCUGIC_0_DEVICE_ID
#define UART1_DEV_ID 		XPAR_PS7_UART_1_DEVICE_ID
#define UART1INTR  			XPAR_PS7_UART_1_INTR#define 	EMIO_CYCLE_CNT_VALID 	54 	//接收FPGA端的周期计数有效信号引脚  高电平有效
#define 	EMIO_DELAY_CTRL 		55 	//发送FPGA端的延时控制字有效信号
#define 	EMIO_DIV_CNT_VALID 		56 	//发送给FPGA的分频有效信号  		高电平有效
#define 	EMIO_BANK_ID 			2 	//EMIO的bank id
#define 	UART_SEND_DELAY 		4 	//串口发送间隔
#define 	DELAY_CTRL 				0 	//延时控制字static XGpioPs GpioPs;
static XGpioPs_Config * GpioCnfPtr;
static XScuGic ScuGic;
static XScuGic_Config * ScuGicCfgPtr;
static XUartPs Uart1;
static XUartPs_Config * Uart1CfgPtr;void initGpio(); 	//初始化并设置管脚的输入输出
void uart1Iint(); 	//初始化uart1
void initSwIntr(); 	//设置中断并关联中断函数void uart1Handler(void *CallBackRef); 	//串口接收中断
void f2pIntr0Handler(void * CallBackRef); 	//FPGA端的EMIO中断
u32 uart_send_cnt = 0	;
u32 delay_ctrl 	= 0 ;
int main()
{//配置延时控制字的初始值uart_send_cnt = 0;WriteDivCnt(10000);//GPIO初始化initGpio();WriteDelayCtrl(DELAY_CTRL);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,1);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);//串口外设初始化uart1Iint();XGpioPs_WritePin(&GpioPs,EMIO_DIV_CNT_VALID,0);XGpioPs_WritePin(&GpioPs,EMIO_DIV_CNT_VALID,1);XGpioPs_WritePin(&GpioPs,EMIO_DIV_CNT_VALID,0);sleep(1);//中断初始化initSwIntr();while(1){}return 0;
}//initial gpio func
void initGpio(){GpioCnfPtr = XGpioPs_LookupConfig(GPIO_DEV_ID);XGpioPs_CfgInitialize(&GpioPs,GpioCnfPtr,GpioCnfPtr->BaseAddr);//设置两个管脚的输入输出模式 0输入  1输出XGpioPs_SetDirectionPin(&GpioPs,EMIO_CYCLE_CNT_VALID,0x00);XGpioPs_SetDirectionPin(&GpioPs,EMIO_DELAY_CTRL,0x01);XGpioPs_SetDirectionPin(&GpioPs,EMIO_DIV_CNT_VALID,0x01);//设置管脚的输入输出使能XGpioPs_SetOutputEnablePin(&GpioPs,EMIO_DIV_CNT_VALID,0x01);XGpioPs_SetOutputEnablePin(&GpioPs,EMIO_DELAY_CTRL,0x01);
}void uart1Iint(){u32 intrMask=0;Uart1CfgPtr = XUartPs_LookupConfig(UART1_DEV_ID);XUartPs_CfgInitialize(&Uart1,Uart1CfgPtr,Uart1CfgPtr->BaseAddress);//设置uart工作模式XUartPs_SetBaudRate(&Uart1,115200);//设置接收FIFO的触发阈值XUartPs_SetFifoThreshold(&Uart1, 2);XUartPs_SetOperMode(&Uart1,XUARTPS_OPER_MODE_NORMAL);intrMask =XUARTPS_IXR_RXOVR;XUartPs_SetInterruptMask(&Uart1,intrMask);
}//uart recv interrupt
void uart1Handler(void *CallBackRef){XUartPs *uart_instance_ptr = (XUartPs *) CallBackRef;u32 rec_data_L = 0 ;u32 rec_data_H = 0 ;u32 rec_data = 0;u32 isr_status ;                           //中断状态标志//读取中断ID寄存器，判断触发的是哪种中断isr_status = XUartPs_ReadReg(uart_instance_ptr->Config.BaseAddress,XUARTPS_IMR_OFFSET);isr_status &= XUartPs_ReadReg(uart_instance_ptr->Config.BaseAddress,XUARTPS_ISR_OFFSET);//判断中断标志位RxFIFO是否触发if (isr_status & (u32)XUARTPS_IXR_RXOVR){rec_data_L = XUartPs_RecvByte(XPAR_PS7_UART_1_BASEADDR);rec_data_H = XUartPs_RecvByte(XPAR_PS7_UART_1_BASEADDR);rec_data = rec_data_L | (rec_data_H<<8);WriteDelayCtrl(rec_data);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,1);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);//清除中断标志XUartPs_WriteReg(uart_instance_ptr->Config.BaseAddress,XUARTPS_ISR_OFFSET, XUARTPS_IXR_RXOVR) ;}
}//initial software interrept
void initSwIntr(){Xil_ExceptionInit();ScuGicCfgPtr = XScuGic_LookupConfig(GIC_ID);XScuGic_CfgInitialize(&ScuGic,ScuGicCfgPtr,ScuGicCfgPtr->CpuBaseAddress);Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,(Xil_ExceptionHandler)XScuGic_InterruptHandler,&ScuGic);//connect uart1 interruptXScuGic_Connect(&ScuGic,UART1INTR,(Xil_ExceptionHandler)uart1Handler,&Uart1);XScuGic_SetPriorityTriggerType(&ScuGic , UART1INTR , 0xA0 ,0x01);XScuGic_Enable(&ScuGic,UART1INTR);//connect fpga interruptXScuGic_Connect(&ScuGic,GPIO_INTERRUPT_ID,(Xil_ExceptionHandler)f2pIntr0Handler,&GpioPs);XGpioPs_SetIntrType(&GpioPs,XGPIOPS_BANK2,1<<(EMIO_CYCLE_CNT_VALID-54),1<<(EMIO_CYCLE_CNT_VALID-54),0);//打开中断使能，对IO管脚配置XGpioPs_IntrEnablePin(&GpioPs, EMIO_CYCLE_CNT_VALID);XScuGic_Enable(&ScuGic,GPIO_INTERRUPT_ID);XScuGic_SetPriorityTriggerType(&ScuGic , GPIO_INTERRUPT_ID , 0xB0 ,0x01);Xil_ExceptionEnable();
}void f2pIntr0Handler(void * CallBackRef){XGpioPs *GpioPtr;GpioPtr = (XGpioPs *)CallBackRef;u32 intrstatus;u32 cyclecnt = 0;intrstatus = XGpioPs_IntrGetStatusPin(GpioPtr,EMIO_CYCLE_CNT_VALID);if(intrstatus == 1){if(delay_ctrl < 1024){if(uart_send_cnt == UART_SEND_DELAY){uart_send_cnt = 0;}if(uart_send_cnt == 0){cyclecnt = ReadCycleCnt();//高位在前，低位在后XUartPs_SendByte(XPAR_PS7_UART_1_BASEADDR,(cyclecnt  >>24)& 0xff);XUartPs_SendByte(XPAR_PS7_UART_1_BASEADDR,(cyclecnt  >>16)& 0xff);XUartPs_SendByte(XPAR_PS7_UART_1_BASEADDR,(cyclecnt  >> 8)& 0xff);XUartPs_SendByte(XPAR_PS7_UART_1_BASEADDR,(cyclecnt  >> 0)& 0xff);WriteDelayCtrl(delay_ctrl);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,1);XGpioPs_WritePin(&GpioPs,EMIO_DELAY_CTRL,0);}if(uart_send_cnt == 1){delay_ctrl = delay_ctrl + 1;}uart_send_cnt 	= 	uart_send_cnt + 1;}XGpioPs_IntrEnablePin(GpioPtr,EMIO_CYCLE_CNT_VALID);}
}