AXI INTC Module in Zynq Ultrascale+ and FreeRTOS

in our design I have to use an AXI INTC module, due to we have more interrupts as the Zynq Ultrascale+ provide (PL to PS).

What are the steps to get the interrupts at AXI INTC working?

At the moment I use the UART0 PS Interrupt XScuGic Initialize and enable, this works to send data with the UART.
Have to connect the AXI INTC with PL-to-PS Interrupt 0 input to XScuGic and create an interrupt handler which reads the ISR of the AXI INTC and call the corresponding programms?

Thank you for your help.

This question does not seem related to FreeRTOS. I’d recommend reaching out to Xilinx.