Configuration of zero latency interrupt with respect to a timer

Hi TI Community,

First of all, I am using a TIVA EK-TM4C1294XL Evaluatioin Board, with TI-RTOS for TivaC product installed (version 2.16.0.08) and Code Composer Studio (v6.1.2.00015).

I am trying to set up a zero latency interrupt that fires repetitively(regularly) after a certain time (currently looking around 2 microseconds) with Timer2A. The interrupt will be used to perform some time critical operation. I have got the following information from pg116 of tn4c1294ncpdt data sheet - 

Vector Number: 39
Interrupt Number: 23
Vector Address or Offset: 0x0000.009C
Description: 16/32-Bit Timer 2A

 I have been searching on the forum for similar topics and I have gone through the below threads:

https://e2e.ti.com/support/embedded/tirtos/f/355/p/508916/1847863#1847863

I was able to follow through the first answer of Aldabreu to created a HAL level timer interrupt but however not able to follow through with his last answer on creating a zero latency interrupt. I have attached snippets of my code for testing purposes in the empty_project.

Edited .cfg file to include the family specific Timer module.
var Timer = xdc.useModule('ti.sysbios.family.arm.m3.Timer');
__________________________________________________________________
...

#include <ti/sysbios/family/arm/m3/Timer.h>

#include <ti/sysbios/family/arm/m3/Hwi.h>

...

void hwi0_isr(UArg arg){
	TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
	GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_3, 0x00);
	GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_3, 0x0F);
}

/*
 *  ======== main ========
 */
int main(void) {

    Task_Params taskParams;

    /* Call board init functions */
    Board_initGeneral();
    Board_initGPIO();

    /* Construct heartBeat Task  thread */
    ...
    ...

    /* Init Timer interrupt and pin P3 for testing */
    GPIOPinTypeGPIOOutput(GPIO_PORTP_BASE, GPIO_PIN_3);

    /* Enable timer peripherial clock */
    Timer_Params TimerParams;
    Timer_Handle myTimer;
    Hwi_Params hwiParams;

    Error_Block eb;
    Error_init(&eb);

    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
    SysCtlPeripheralReset(SYSCTL_PERIPH_TIMER2);

    while (!SysCtlPeripheralReady(SYSCTL_PERIPH_TIMER2)) {
    }

    // initialise zero latency interrupt on timer
    Timer_Params_init(&TimerParams);
    TimerParams.period = 10;
    TimerParams.arg = 1;
    TimerParams.periodType = Timer_PeriodType_MICROSECS;	//can also be in microseconds

    hwiParams.priority = 0;       //zero latency interrupt, priority 0
    TimerParams.hwiParams = &hwiParams;

    //Termination error when timerID = 0 and Timer_ANY, I tried 1,2, 23(interrupt number of Timer2A), 39(vector number of Timer2A).
    myTimer = Timer_create(*I am not too sure about this field, see above comment*, hwi0_isr, &TimerParams, &eb);

    if (myTimer == NULL) {
        System_abort("Timer create failed");
    }

    /* Start BIOS */
    BIOS_start();

    return (0);
}

My understanding is that the following line is configuring the interrupt to have a zero latency priority and the struct "hwiParams" is later passed into "TimerParams" as the config of Timer_create.

    hwiParams.priority = 0;       //zero latency interrupt, priority 0

I am getting the following error on launch after debug (no compile error as well) when I set TimerId to be 2 for Timer_create.

- ti.sysbios.family.arm.m3.Timer: line 162: E_invalidTimer: Invalid Timer Id 2

- Timer create failed

Thanks in advance for your help!

Gabriel

p.s I have also gone through software-dl.ti.com/.../Hwi.html