1 /* modrx.c -- wireless controller receiver for robots
2 Copyright 2004 Robotronics, Inc.
5 This file is part of the Modular Robot Design.
10 #include <sys/interrupts.h>
12 void fatal_interrupt ()
14 /* Infinite loop for debugging
15 Returning would not help as it's necessary to clear the interrupt flag.
17 for (;;) cop_optional_reset();
20 #ifdef USE_INTERRUPT_TABLE
22 /* NOTE: these ISR must be in non-banked memory (near) */
24 /* Manual context switch function. This is the SWI ISR. */
25 void ATTR_INT ATTR_NEAR vPortYield( void );
27 /* Tick context switch function. This is the timer ISR. */
28 void ATTR_INT ATTR_NEAR vPortTickInterrupt( void );
30 void ATTR_INT ATTR_NEAR vCOM_ISR( void );
32 /* Interrupt vectors table.
34 Note: the `XXX_handler: foo' notation is a GNU extension which is
35 used here to ensure correct association of the handler in the struct.
36 This is why the order of handlers declared below does not follow
38 const struct interrupt_vectors __attribute__((section(".vectors"))) vectors =
40 pwm_shutdown_handler: fatal_interrupt,
41 ptpif_handler: fatal_interrupt,
42 can4_tx_handler: fatal_interrupt,
43 can4_rx_handler: fatal_interrupt,
44 can4_err_handler: fatal_interrupt,
45 can4_wake_handler: fatal_interrupt,
46 can3_tx_handler: fatal_interrupt,
47 can3_rx_handler: fatal_interrupt,
48 can3_err_handler: fatal_interrupt,
49 can3_wake_handler: fatal_interrupt,
50 can2_tx_handler: fatal_interrupt,
51 can2_rx_handler: fatal_interrupt,
52 can2_err_handler: fatal_interrupt,
53 can2_wake_handler: fatal_interrupt,
54 can1_tx_handler: fatal_interrupt,
55 can1_rx_handler: fatal_interrupt,
56 can1_err_handler: fatal_interrupt,
57 can1_wake_handler: fatal_interrupt,
58 can0_tx_handler: fatal_interrupt,
59 can0_rx_handler: fatal_interrupt,
60 can0_err_handler: fatal_interrupt,
61 can0_wake_handler: fatal_interrupt,
62 flash_handler: fatal_interrupt,
63 eeprom_handler: fatal_interrupt,
64 spi2_handler: fatal_interrupt,
65 spi1_handler: fatal_interrupt,
66 iic_handler: fatal_interrupt,
67 bdlc_handler: fatal_interrupt,
68 selfclk_mode_handler: fatal_interrupt,
69 pll_lock_handler: fatal_interrupt,
70 accb_overflow_handler: fatal_interrupt,
71 mccnt_underflow_handler: fatal_interrupt,
72 pthif_handler: fatal_interrupt,
73 ptjif_handler: fatal_interrupt,
74 atd1_handler: fatal_interrupt,
75 atd0_handler: fatal_interrupt,
76 sci1_handler: fatal_interrupt,
77 sci0_handler: fatal_interrupt,
78 spi0_handler: fatal_interrupt,
80 /** Timer and Accumulator */
81 acca_input_handler: fatal_interrupt,
82 acca_overflow_handler: fatal_interrupt,
83 timer_overflow_handler: fatal_interrupt,
85 /** Input capture / Output compare Timers */
86 tc7_handler: fatal_interrupt,
87 tc6_handler: fatal_interrupt,
88 tc5_handler: fatal_interrupt,
89 tc4_handler: fatal_interrupt,
90 tc3_handler: fatal_interrupt,
91 tc2_handler: fatal_interrupt,
92 tc1_handler: fatal_interrupt,
93 tc0_handler: fatal_interrupt,
95 /** External Interrupts */
96 rtii_handler: fatal_interrupt,
97 irq_handler: fatal_interrupt,
98 xirq_handler: fatal_interrupt,
100 illegal_handler: fatal_interrupt,
101 cop_fail_handler: fatal_interrupt,
102 cop_clock_handler: fatal_interrupt,
104 /** Vectors in use */
105 swi_handler: vPortYield,
106 rtii_handler: vPortTickInterrupt,
108 sci1_handler: vCOM_ISR,
110 sci0_handler: vCOM_ISR,
112 reset_handler: _start
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