PL端中断
在上一篇博客中介绍了软中断,软中断可以用于ZYNQ的两个CPU之间进行中断,以此来进行两个CPU之间的通信,在ZYNQ的架构中,PL端也能够向PS端提供中断,PL端向PS端的中断一共有16个。
可以看到PL端的中断,通过SPI连接到GIC上,在双核模式下使用PL端的中断时,需要对中断进行绑定。
搭建硬件系统
为了快速上手,在搭建硬件系统时,设计一个定时器模块,该模块完成的功能就是每隔1s和2s向ZYNQ核提供一个PL端的中断。
timer模块是产生PL端中断的模块,该模块是自行使用Vivado封装的一个模块,对应代码如下:
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
硬中断初始化流程
步骤 | 函数 |
---|---|
初始化异常处理系统 | Xil_ExceptionInit(); |
初始化中断控制器 | XScuGic_LookupConfig() XScuGic_CfgInitialize() |
注册异常回调函数 | Xil_ExceptionRegisterHandler() |
将中断控制器与对应的中断ID相连接 | XScuGic_Connect() |
设置中断类型和优先级 | XScuGic_SetPriTrigTypeByDistAddr() |
硬中断映射到对应的CPU | XScuGic_InterruptMaptoCpu() |
使能中断控制器 | XScuGic_Enable() |
使能异常处理系统 | Xil_ExceptionEnable() |
程序设计
程序设计十分简单,只需要在CPU0和CPU1接收到来自PL端的对应的中断时,就让其打印一下信息就行了。
CPU0应用程序
在设置硬中断时,需要设置中断的类型和优先级,使用到的函数是XScuGic_SetPriTrigTypeByDistAddr(DIST_BASE_ADDR, CPU0_HW_INT_ID, 0x20, 0x03);
其中第一个参数是,中断设置的基地址,ZYNQ的中断设置都有一个基地址,对各个中断号的中断的响应,可以通过中断号来进行偏移,除此之外还需要设置中断的优先级,中断的优先级是以8为递增的,也就是中断的优先级有0x00,0x08,0x10,0x18等等,优先级最低的是0xF8;中断的类型根据中断的类型不同可以设置为不同类型的中断,其中私有中断(PPI)默认为上升沿触发,软中断(SFI),共享中断(SPI)可以设置为电平中断和边沿中断。
#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的软中断ID,用于中断CPU0
#define CPU1_SW_INT_ID 0x0E //CPU1的软中断ID,用于中断CPU1
//PL 到 arm的中断
#define CPU0_HW_INT_ID 61 //CPU0的硬中断,1S计数器中断
#define CPU1_HW_INT_ID 62 //CPU1的硬中断,2S计数器中断
static XScuGic gicInst;
static XScuGic_Config * gicCfg_Ptr;
void hwIntrHandler(void * CallBackRef)
{
printf("CPU0 is interrupted by HW\n");
}
int initGic()
{
int status;
//1. 初始化异常处理系统
Xil_ExceptionInit();
//2. 初始化中断控制器
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. 注册异常回调函数
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT, (Xil_ExceptionHandler)XScuGic_InterruptHandler, &gicInst);
//4. 连接GIC对应的硬中断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. 将硬中断绑定到CPU0
XScuGic_InterruptMaptoCpu(&gicInst, 0x00, CPU0_HW_INT_ID);
//7. 使能硬中断
XScuGic_Enable(&gicInst, CPU0_HW_INT_ID);
//8. 使能异常处理系统
Xil_ExceptionEnable();
return status;
}
int main()
{
//初始化中断控制器
int status;
status = initGic();
if(status != XST_SUCCESS)
{
printf("initialize GIC failed\n");
return XST_FAILURE;
}
while(1)
{
}
return 0;
}
CPU1应用程序
#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的软中断ID,用于中断CPU0
#define CPU1_SW_INT_ID 0x0E //CPU1的软中断ID,用于中断CPU1
#define CPU0_HW_INT_ID 61 //CPU0的硬中断,1S计数器中断
#define CPU1_HW_INT_ID 62 //CPU1的硬中断,2S计数器中断
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. 初始化异常处理系统
Xil_ExceptionInit();
//2. 初始化中断控制器
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. 注册异常回调函数,中断类型的异常
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT, (Xil_ExceptionHandler)XScuGic_InterruptHandler, &gicInst);
//4. 连接GIC对应的硬中断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. 设置硬中断优先级和中断类型
XScuGic_SetPriTrigTypeByDistAddr(DIST_BASE_ADDR, CPU1_HW_INT_ID, 0x20, 0x03);
//6. 将硬中断绑定到CPU0(双使用双核时,需要对硬中断进行一次映射)
XScuGic_InterruptMaptoCpu(&gicInst, 0x01, CPU1_HW_INT_ID);
//7. 使能硬中断
XScuGic_Enable(&gicInst, CPU1_HW_INT_ID);
//8. 使能异常处理系统
Xil_ExceptionEnable();
return status;
}
int main()
{
//初始化中断控制器
int status;
status = initGic();
if(status != XST_SUCCESS)
{
printf("initialize GIC failed\n");
return XST_FAILURE;
}
while(1)
{
}
return 0;
}
测试结果
从打印结果来看,PL端给到CPU0的中断是每隔1s产生一次中断,PL端给到CPU1的中断是每隔2S产生一次中断。所有可以看到,CPU0的每打印两次,CPU1打印一次。