static void SetupInterruptSystem(XScuGic *GicInstancePtr, u32 *FPGAPtr, u16 FPGAIntrId,
XGpioPs *Gpio, u16 GpioIntrId)
{
XScuGic_Config *IntcConfig; //GIC config
Xil_ExceptionInit();
//initialise the GIC
IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);
XScuGic_CfgInitialize(GicInstancePtr, IntcConfig,
IntcConfig->CpuBaseAddress);
//connect to the hardware
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler)XScuGic_InterruptHandler,
GicInstancePtr);
//set up the timer interrupt
XScuGic_Connect(GicInstancePtr, FPGAIntrId,
(Xil_ExceptionHandler)FPGAIntrHandler,
(void *)FPGAPtr);
//set up the GPIO interrupt
XScuGic_Connect(GicInstancePtr, GpioIntrId,
(Xil_ExceptionHandler)XGpioPs_IntrHandler,
(void *)Gpio);
//Enable interrupts for all the pins in bank 0.
XGpioPs_SetIntrTypePin(Gpio, pbsw, XGPIOPS_IRQ_TYPE_EDGE_RISING);
//Set the handler for gpio interrupts.
XGpioPs_SetCallbackHandler(Gpio, (void *)Gpio, GPIOIntrHandler);
//Enable the GPIO interrupts of Bank 0.
XGpioPs_IntrEnablePin(Gpio, pbsw);
//Enable the interrupt for the GPIO device.
XScuGic_Enable(GicInstancePtr, GpioIntrId);
//enable the interrupt for the Timer at GIC
XScuGic_Enable(GicInstancePtr, FPGAIntrId);
// Enable interrupts in the Processor.
Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ);
printf("Interrupt Set Up\n\r");
}
void vApplicationSetupHardware( void )
{
XScuGic * InterruptController = prvGetInterruptControllerInstance();
int iPinNumberEMIO = 54;
u32 uPinDirectionEMIO = 0x0;
u32 uPinDirection = 0x1;
print("##### Application Starts #####\n\r");
print("\r\n");
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-1 :AXI GPIO Initialization
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
u32 xStatus = XGpio_Initialize(&GPIOInstance_Ptr,XPAR_AXI_GPIO_0_DEVICE_ID);
if(XST_SUCCESS != xStatus)
print("GPIO INIT FAILED\n\r");
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-2 :AXI GPIO Set the Direction
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XGpio_SetDataDirection(&GPIOInstance_Ptr, 1,1);
//set up GPIO interrupt
XGpio_InterruptEnable(&GPIOInstance_Ptr, 0x1);
XGpio_InterruptGlobalEnable(&GPIOInstance_Ptr);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-3 :AXI Timer Initialization
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
xStatus = XTmrCtr_Initialize(&TimerInstancePtr, XPAR_AXI_TIMER_0_DEVICE_ID);
if(XST_SUCCESS != xStatus)
print("TIMER INIT FAILED \n\r");
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-4 :Set Timer Handler
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XTmrCtr_SetHandler(&TimerInstancePtr, Timer_InterruptHandler, &TimerInstancePtr);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-5 :Setting timer Reset Value
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XTmrCtr_SetResetValue(&TimerInstancePtr, 0, 0x0F000000);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-6 :Setting timer Option (Interrupt Mode And Auto Reload )
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XTmrCtr_SetOptions(&TimerInstancePtr, XPAR_AXI_TIMER_0_DEVICE_ID, (XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION));
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-7 :PS GPIO Intialization
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
GpioConfigPtr = XGpioPs_LookupConfig(XPAR_PS7_GPIO_0_DEVICE_ID);
if(GpioConfigPtr == NULL)
print(" PS GPIO config lookup FAILED \n\r");
xStatus = XGpioPs_CfgInitialize(&psGpioInstancePtr, GpioConfigPtr, GpioConfigPtr->BaseAddr);
if(XST_SUCCESS != xStatus)
print(" PS GPIO INIT FAILED \n\r");
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-8 :PS GPIO pin setting to Output
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XGpioPs_SetDirectionPin(&psGpioInstancePtr, 54, uPinDirection);
XGpioPs_SetOutputEnablePin(&psGpioInstancePtr, 54,1);
// XGpioPs_SetDirectionPin(&psGpioInstancePtr, 8,uPinDirection);
// XGpioPs_SetOutputEnablePin(&psGpioInstancePtr, 8, 1);
print(" INITED MIO \n\r");
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-9 :EMIO PIN Setting to Input port
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
XGpioPs_SetDirectionPin(&psGpioInstancePtr, iPinNumberEMIO, uPinDirectionEMIO);
XGpioPs_SetOutputEnablePin(&psGpioInstancePtr, iPinNumberEMIO, 0);
//XGpioPs_IntrEnable(&psGpioInstancePtr, XGPIOPS_BANK2, 0x1);
// instance, bank, edge, rising, single edge
XGpioPs_IntrEnablePin(&psGpioInstancePtr, iPinNumberEMIO);
XGpioPs_SetIntrType(&psGpioInstancePtr, XGPIOPS_BANK2, 1, 1, 0);
XGpioPs_SetCallbackHandler(&psGpioInstancePtr, (void *) &psGpioInstancePtr, EMIO_Button_InterruptHandler);
print(" INITED FIRST EMIO \n\r");
// EMIO output
XGpioPs_SetDirectionPin(&psGpioInstancePtr, 55, uPinDirection);
XGpioPs_SetOutputEnablePin(&psGpioInstancePtr, 55, 1);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Step-10 : SCUGIC interrupt controller Initialization
//Registration of the Timer ISR
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
u32 Status = XScuGic_Connect(InterruptController,
XPAR_FABRIC_AXI_TIMER_0_INTERRUPT_INTR,
(Xil_ExceptionHandler)XTmrCtr_InterruptHandler,
(void *)&TimerInstancePtr);
if (Status != XST_SUCCESS) {
print(" Error connection timer interrupt \n \r");
}
Status = XScuGic_Connect(InterruptController,
XPAR_FABRIC_AXI_GPIO_0_IP2INTC_IRPT_INTR,
(Xil_ExceptionHandler)Button_InterruptHandler,
(void *)&GPIOInstance_Ptr);
if (Status != XST_SUCCESS) {
print(" Error connection button interrupt \n \r");
}
/*
* Connect the device driver handler that will be called when an
* interrupt for the device occurs, the handler defined above performs
* the specific interrupt processing for the device.
*/
Status = XScuGic_Connect(InterruptController,
XPS_GPIO_INT_ID,
(Xil_ExceptionHandler)XGpioPs_IntrHandler,
(void *)&psGpioInstancePtr);
if (Status != XST_SUCCESS) {
print(" Error connection button EMIO interrupt \n \r");
}
/*
* Enable the interrupt for the device and then cause (simulate) an
* interrupt so the handlers will be called
*/
XScuGic_Enable(InterruptController, XPAR_FABRIC_AXI_GPIO_0_IP2INTC_IRPT_INTR);
XScuGic_Enable(InterruptController, XPS_GPIO_INT_ID);
XScuGic_Enable(InterruptController, XPAR_FABRIC_AXI_TIMER_0_INTERRUPT_INTR);
// turn off all LEDs
XGpioPs_WritePin(&psGpioInstancePtr, iPinNumber, 0);
XGpioPs_WritePin(&psGpioInstancePtr, 55, 0);
print(" End of init \n\r");
}
/*
* Set Up Interrupt for IMU
*/
int setupDMPInt() {
//Variables
int status;
XScuGic_Config* IntcConfig;
XGpioPs_Config* GpioConfig;
unsigned char data;
//MPU and DMP
//Configure MPU Interrupt Pin
status = imuReadIntConfig(&data); //Read Register
if (status != XST_SUCCESS) {
return status;
}
//Modify Bits
data &= (~INT_LEVEL_BIT); //Clear bit --> active high
data &= (~INT_OPEN_BIT); //Clear bit --> push-pull
data &= (~INT_RD_CLEAR_BIT); //Clear bit --> interrupt status bits are cleared only by reading INT_STATUS (Register 58)
data |= LATCH_INT_EN_BIT; //Set bit --> INT pin is held high until the interrupt is cleared
//Configure Int Pin
status = imuConfigureInt(&data);
if (status != XST_SUCCESS) {
return status;
}
//Set Interrupt level
status = mpu_set_int_level(0); //Set Interrupt for "active high" (0)
if (status != XST_SUCCESS) {
myprintf("mpu_int.c: Could not set interrupt level.\r\n");
return status;
}
//Enable Latched Interrupt
status = imuSetIntLatched(1);
if (status != XST_SUCCESS) {
myprintf("mpu_int.c: Could not set latched interrupt.\r\n");
return status;
}
//Set DMP Interrupt Mode
status = imuSetDmpIntMode(DMP_INT_CONTINUOUS); //Interrupt when one FIFO period has elapsed
if (status != XST_SUCCESS) {
myprintf("mpu_int.c: Could not set interrupt mode.\r\n");
return status;
}
//Initialize Xil Exceptions
Xil_ExceptionInit();
//Initialize GPIO
GpioConfig = XGpioPs_LookupConfig(GPIO_DEVICE_ID);
status = XGpioPs_CfgInitialize(&Gpio, GpioConfig, GpioConfig->BaseAddr);
if (status != XST_SUCCESS) {
myprintf("mpu_utils.c: Error initializing GPIO Config.\r\n");
return status;
}
//Initialize GIC
IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);
status = XScuGic_CfgInitialize(&Intc, IntcConfig,
IntcConfig->CpuBaseAddress);
if (status != XST_SUCCESS) {
myprintf("mpu_utils.c: Error initializing SCU GIC Config.\r\n");
return status;
}
//Connect interrupt controller interrupt handler to HW interrupt handling logic in PS
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler) XScuGic_InterruptHandler, &Intc);
//Connect driver handler (GIC) called when interrupt occurs to HW defined above
XScuGic_Connect(&Intc, GPIO_INT_ID,
(Xil_ExceptionHandler) myXGpioPs_IntrHandler, (void*) &Gpio); //Use my own Intr Handler
//Enable Interrupt for Pin
XGpioPs_SetIntrTypePin(&Gpio, GPIO_INT_PIN, XGPIOPS_IRQ_TYPE_EDGE_RISING);
//Set Callback Handler for GPIO Interrupts
XGpioPs_SetCallbackHandler(&Gpio, (void *) &Gpio,
(XGpioPs_Handler) ImuIntrHandler);
//Enable GPIO Interrupt for Pin
XGpioPs_IntrEnablePin(&Gpio, GPIO_INT_PIN);
if (!XGpioPs_IntrGetEnabledPin(&Gpio, GPIO_INT_PIN)) {
myprintf("mpu_int.c: Interrupt not enabled.\r\n");
}
//Enable Interrupts for GPIO
XScuGic_Enable(&Intc, GPIO_INT_ID);
//Enable Interrupts in Processor
Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ);
//Free memory
return XST_SUCCESS;
}
