基于Timer中断驱动的多任务管理_xilinx timer中断-优快云博客

本文链接：https://blog.youkuaiyun.com/lbai7134/article/details/146005098

基于Timer中断驱动的多任务管理

背景
硬件设计
软件设计
仿真
参考资料

背景

基于microblaze的裸机程序设计中，通常会遇到需要执行多个任务，并且每个任务的执行时间间隔有所不同的情况，通常使用RTOS是一个好的选择，但是对于简单任务，RTOS是一个沉重的负担。另一个可行的选项就是基于Timer中断的任务调度。

下面使用ChatGPT来回答使用基于中断的任务调度和基于RTOS的任务调度的异同：

任务调度方式
基于 Timer 的多任务多优先级设计任务通常由定时器（Timer）中断触发，基于时间片轮转或优先级决策进行任务切换。
一般采用轮询（Polling）或中断驱动（Interrupt-driven）机制进行任务管理。需要手动管理任务执行顺序，任务之间通常通过全局变量、标志位或软中断进行通信。基于 RTOS 的多任务调度由 RTOS 内核负责任务调度，提供抢占式（Preemptive）或协作式（Cooperative）任务调度机制。采用优先级调度（Priority Scheduling）、时间片轮转（Time-Slicing）、抢占式调度（Preemptive Scheduling）等策略进行任务管理。任务间可以通过信号量（Semaphore）、消息队列（Message Queue）、事件标志（Event Flags）等方式进行同步和通信。
系统复杂度
基于 Timer代码逻辑简单，适用于简单的嵌入式系统，不需要复杂的任务管理。任务切换依赖于定时器周期性触发，可能需要手动控制任务优先级。维护困难，当任务增多时，管理复杂度急剧上升。基于 RTOS具有任务管理、同步机制、内存管理等完整的功能，适用于复杂的实时系统。更易扩展，支持多个任务动态管理，任务优先级可以灵活调整。需要学习 RTOS 的 API 和概念，系统资源占用较大。
实时性保障
基于 Timer实时性取决于定时器和中断处理的效率，如果某个任务执行时间过长，可能会影响其他任务。任务调度通常是固定的，无法动态调整任务优先级。适用于低实时性需求的场景，如简单传感器数据采集、LED 控制等。基于 RTOS采用优先级调度和任务抢占，可以保证高优先级任务及时执行。具有实时性保障，适用于对时序要求严格的应用，如工业控制、汽车电子、医疗设备等。
可扩展性
基于 Timer扩展性差，随着任务增多，定时器管理和任务调度的复杂度会大幅提升。需要手动管理任务的触发和执行，难以适应动态变化的需求。基于 RTOS可扩展性强，支持动态创建和销毁任务，适用于多任务、复杂逻辑的嵌入式系统。任务间可以通过队列、信号量进行高效通信，适应更复杂的应用场景。

适用场景	设计方式
基于 Timer	简单的嵌入式系统，任务少，逻辑固定，如 LED 控制、定时传感器采样等。
基于 RTOS	复杂的嵌入式系统，需要多任务调度、实时性保障，如机器人控制、工业自动化等。

总结
基于 Timer 适用于任务较少、实时性要求不高的系统，逻辑简单但不易扩展。
基于 RTOS 适用于任务较多、实时性要求高的系统，调度更灵活但系统资源消耗较大。
如果你的系统简单、资源受限，可以使用基于 Timer 的调度方式；如果需要更好的实时性和可扩展性，使用 RTOS 更合适。

硬件设计

此处需要添加必须要添加的有Timer，GPIO，其他的IIC，UART可以忽略
在这里插入图片描述

对应的block design tcl代码如下

################################################################
# This is a generated script based on design: design_1
#
# Though there are limitations about the generated script,
# the main purpose of this utility is to make learning
# IP Integrator Tcl commands easier.
################################################################

namespace eval _tcl {
proc get_script_folder {} {
   set script_path [file normalize [info script]]
   set script_folder [file dirname $script_path]
   return $script_folder
}
}
variable script_folder
set script_folder [_tcl::get_script_folder]

################################################################
# Check if script is running in correct Vivado version.
################################################################
set scripts_vivado_version 2023.2
set current_vivado_version [version -short]

if { [string first $scripts_vivado_version $current_vivado_version] == -1 } {
   puts ""
   if { [string compare $scripts_vivado_version $current_vivado_version] > 0 } {
      catch {common::send_gid_msg -ssname BD::TCL -id 2042 -severity "ERROR" " This script was generated using Vivado <$scripts_vivado_version> and is being run in <$current_vivado_version> of Vivado. Sourcing the script failed since it was created with a future version of Vivado."}

   } else {
     catch {common::send_gid_msg -ssname BD::TCL -id 2041 -severity "ERROR" "This script was generated using Vivado <$scripts_vivado_version> and is being run in <$current_vivado_version> of Vivado. Please run the script in Vivado <$scripts_vivado_version> then open the design in Vivado <$current_vivado_version>. Upgrade the design by running \"Tools => Report => Report IP Status...\", then run write_bd_tcl to create an updated script."}

   }

   return 1
}

################################################################
# START
################################################################

# To test this script, run the following commands from Vivado Tcl console:
# source design_1_script.tcl

# If there is no project opened, this script will create a
# project, but make sure you do not have an existing project
# <./myproj/project_1.xpr> in the current working folder.

set list_projs [get_projects -quiet]
if { $list_projs eq "" } {
   create_project project_1 myproj -part xc7a12ticsg325-1L
}


# CHANGE DESIGN NAME HERE
variable design_name
set design_name design_1

# If you do not already have an existing IP Integrator design open,
# you can create a design using the following command:
#    create_bd_design $design_name

# Creating design if needed
set errMsg ""
set nRet 0

set cur_design [current_bd_design -quiet]
set list_cells [get_bd_cells -quiet]

if { ${design_name} eq "" } {
   # USE CASES:
   #    1) Design_name not set

   set errMsg "Please set the variable <design_name> to a non-empty value."
   set nRet 1

} elseif { ${cur_design} ne "" && ${list_cells} eq "" } {
   # USE CASES:
   #    2): Current design opened AND is empty AND names same.
   #    3): Current design opened AND is empty AND names diff; design_name NOT in project.
   #    4): Current design opened AND is empty AND names diff; design_name exists in project.

   if { $cur_design ne $design_name } {
      common::send_gid_msg -ssname BD::TCL -id 2001 -severity "INFO" "Changing value of <design_name> from <$design_name> to <$cur_design> since current design is empty."
      set design_name [get_property NAME $cur_design]
   }
   common::send_gid_msg -ssname BD::TCL -id 2002 -severity "INFO" "Constructing design in IPI design <$cur_design>..."

} elseif { ${cur_design} ne "" && $list_cells ne "" && $cur_design eq $design_name } {
   # USE CASES:
   #    5) Current design opened AND has components AND same names.

   set errMsg "Design <$design_name> already exists in your project, please set the variable <design_name> to another value."
   set nRet 1
} elseif { [get_files -quiet ${design_name}.bd] ne "" } {
   # USE CASES: 
   #    6) Current opened design, has components, but diff names, design_name exists in project.
   #    7) No opened design, design_name exists in project.

   set errMsg "Design <$design_name> already exists in your project, please set the variable <design_name> to another value."
   set nRet 2

} else {
   # USE CASES:
   #    8) No opened design, design_name not in project.
   #    9) Current opened design, has components, but diff names, design_name not in project.

   common::send_gid_msg -ssname BD::TCL -id 2003 -severity "INFO" "Currently there is no design <$design_name> in project, so creating one..."

   create_bd_design $design_name

   common::send_gid_msg -ssname BD::TCL -id 2004 -severity "INFO" "Making design <$design_name> as current_bd_design."
   current_bd_design $design_name

}

common::send_gid_msg -ssname BD::TCL -id 2005 -severity "INFO" "Currently the variable <design_name> is equal to \"$design_name\"."

if { $nRet != 0 } {
   catch {common::send_gid_msg -ssname BD::TCL -id 2006 -severity "ERROR" $errMsg}
   return $nRet
}

set bCheckIPsPassed 1
##################################################################
# CHECK IPs
##################################################################
set bCheckIPs 1
if { $bCheckIPs == 1 } {
   set list_check_ips "\ 
xilinx.com:ip:microblaze:11.0\
xilinx.com:ip:axi_uartlite:2.0\
xilinx.com:ip:axi_gpio:2.0\
xilinx.com:ip:axi_timer:2.0\
xilinx.com:ip:axi_iic:2.1\
xilinx.com:ip:axi_intc:4.1\
xilinx.com:ip:mdm:3.2\
xilinx.com:ip:clk_wiz:6.0\
xilinx.com:ip:proc_sys_reset:5.0\
xilinx.com:ip:lmb_v10:3.0\
xilinx.com:ip:lmb_bram_if_cntlr:4.0\
xilinx.com:ip:blk_mem_gen:8.4\
"

   set list_ips_missing ""
   common::send_gid_msg -ssname BD::TCL -id 2011 -severity "INFO" "Checking if the following IPs exist in the project's IP catalog: $list_check_ips ."

   foreach ip_vlnv $list_check_ips {
      set ip_obj [get_ipdefs -all $ip_vlnv]
      if { $ip_obj eq "" } {
         lappend list_ips_missing $ip_vlnv
      }
   }

   if { $list_ips_missing ne "" } {
      catch {common::send_gid_msg -ssname BD::TCL -id 2012 -severity "ERROR" "The following IPs are not found in the IP Catalog:\n  $list_ips_missing\n\nResolution: Please add the repository containing the IP(s) to the project." }
      set bCheckIPsPassed 0
   }

}

if { $bCheckIPsPassed != 1 } {
  common::send_gid_msg -ssname BD::TCL -id 2023 -severity "WARNING" "Will not continue with creation of design due to the error(s) above."
  return 3
}

##################################################################
# DESIGN PROCs
##################################################################


# Hierarchical cell: microblaze_0_local_memory
proc create_hier_cell_microblaze_0_local_memory { parentCell nameHier } {

  variable script_folder

  if { $parentCel