ZYNQ中FreeRTOS中使用定时器

使用普通的Timer中断方式时，Timer中断可以正常运行，但是UDP通信进程无法启动。其中TimerIntrHandler是中断服务程序，打印程序运行时间与从BRAM中读取的数据。

void SetupInterruptSystem(XScuGic *GicInstancePtr,XScuTimer *TimerInstancePtr, u16 TimerIntrId)
{
	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, TimerIntrId,(Xil_ExceptionHandler)TimerIntrHandler,	(void *)TimerInstancePtr);
	//enable the interrupt for the Timer at GIC
	XScuGic_Enable(GicInstancePtr, TimerIntrId);
	//enable interrupt on the timer
	XScuTimer_EnableInterrupt(TimerInstancePtr);
	// Enable interrupts in the Processor.
	Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ);
	}


static void TimerIntrHandler(void *CallBackRef)
{
	static int sec = 0; //计数
	XScuTimer *TimerInstancePtr = (XScuTimer *) CallBackRef;
	XScuTimer_ClearInterruptStatus(TimerInstancePtr);
	sec++;
	int rev = Xil_In32(XPAR_BRAM_1_BASEADDR);
	xil_printf( "The data at %x is %x \r",XPAR_BRAM_1_BASEADDR,rev);
	printf("Current program run for %d seconds\n\r",sec); //每秒打印输出一次
}


void timer_init()
{
    //Timer test
    printf("Timer test...\r\n");
    XScuTimer_Config *TMRConfigPtr; //timer config
    //printf("------------START-------------\n");
    //私有定时器初始化
    TMRConfigPtr = XScuTimer_LookupConfig(0);//TIMER_DEVICE_ID);
    XScuTimer_CfgInitialize(&Timer, TMRConfigPtr,TMRConfigPtr->BaseAddr);
    XScuTimer_SelfTest(&Timer);
    //加载计数周期， 私有定时器的时钟为 CPU 的一般， 为 333MHZ,如果计数 1S,加载值为1sx(333x1000x1000)(1/s)-1=0x13D92D3F
    XScuTimer_LoadTimer(&Timer, TIMER_LOAD_VALUE);
    //自动装载
    XScuTimer_EnableAutoReload(&Timer);
    //启动定时器
    XScuTimer_Start(&Timer);
    //set up the interrupts
    SetupInterruptSystem(&Intc,&Timer,TIMER_IRPT_INTR);
}

改为进程定时器的方式后，UDP通信进程可以正常启动。DELAY_10_SECONDS与DELAY_1_SECOND是中断时间设置。

#define TIMER_ID	1
#define DELAY_10_SECONDS	10000UL
#define DELAY_1_SECOND		1000UL
#define TIMER_CHECK_THRESHOLD	9
static TimerHandle_t xTimer = NULL;

int main()
{
	sys_thread_new("main_thread", (void(*)(void*))main_thread, 0,
			THREAD_STACKSIZE, DEFAULT_THREAD_PRIO);

	//sleep(10);
	const TickType_t x1second = pdMS_TO_TICKS( DELAY_1_SECOND );
	xTimer = xTimerCreate( (const char *) "Timer",x1second,pdTRUE,(void *) TIMER_ID,TimerIntrHandler);
	configASSERT( xTimer );
	xTimerStart( xTimer, 0 );

	vTaskStartScheduler();
	while(1);
	return 0;
}