1 /* modrx.c -- wireless controller receiver for robots
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2 Copyright 2004 Robotronics, Inc.
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3 Author Jefferson Smith
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5 This file is part of the Modular Robot Design.
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9 #include <sys/ports.h>
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10 #include <sys/interrupts.h>
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12 void fatal_interrupt ()
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14 /* Infinite loop for debugging
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15 Returning would not help as it's necessary to clear the interrupt flag.
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17 for (;;) cop_optional_reset();
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20 #ifdef USE_INTERRUPT_TABLE
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22 /* NOTE: these ISR must be in non-banked memory (near) */
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24 /* Manual context switch function. This is the SWI ISR. */
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25 void ATTR_INT ATTR_NEAR vPortYield( void );
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27 /* Tick context switch function. This is the timer ISR. */
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28 void ATTR_INT ATTR_NEAR vPortTickInterrupt( void );
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30 void ATTR_INT ATTR_NEAR vCOM_ISR( void );
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32 /* Interrupt vectors table.
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34 Note: the `XXX_handler: foo' notation is a GNU extension which is
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35 used here to ensure correct association of the handler in the struct.
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36 This is why the order of handlers declared below does not follow
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38 const struct interrupt_vectors __attribute__((section(".vectors"))) vectors =
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40 pwm_shutdown_handler: fatal_interrupt,
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41 ptpif_handler: fatal_interrupt,
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42 can4_tx_handler: fatal_interrupt,
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43 can4_rx_handler: fatal_interrupt,
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44 can4_err_handler: fatal_interrupt,
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45 can4_wake_handler: fatal_interrupt,
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46 can3_tx_handler: fatal_interrupt,
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47 can3_rx_handler: fatal_interrupt,
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48 can3_err_handler: fatal_interrupt,
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49 can3_wake_handler: fatal_interrupt,
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50 can2_tx_handler: fatal_interrupt,
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51 can2_rx_handler: fatal_interrupt,
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52 can2_err_handler: fatal_interrupt,
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53 can2_wake_handler: fatal_interrupt,
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54 can1_tx_handler: fatal_interrupt,
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55 can1_rx_handler: fatal_interrupt,
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56 can1_err_handler: fatal_interrupt,
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57 can1_wake_handler: fatal_interrupt,
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58 can0_tx_handler: fatal_interrupt,
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59 can0_rx_handler: fatal_interrupt,
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60 can0_err_handler: fatal_interrupt,
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61 can0_wake_handler: fatal_interrupt,
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62 flash_handler: fatal_interrupt,
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63 eeprom_handler: fatal_interrupt,
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64 spi2_handler: fatal_interrupt,
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65 spi1_handler: fatal_interrupt,
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66 iic_handler: fatal_interrupt,
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67 bdlc_handler: fatal_interrupt,
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68 selfclk_mode_handler: fatal_interrupt,
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69 pll_lock_handler: fatal_interrupt,
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70 accb_overflow_handler: fatal_interrupt,
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71 mccnt_underflow_handler: fatal_interrupt,
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72 pthif_handler: fatal_interrupt,
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73 ptjif_handler: fatal_interrupt,
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74 atd1_handler: fatal_interrupt,
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75 atd0_handler: fatal_interrupt,
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76 sci1_handler: fatal_interrupt,
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77 sci0_handler: fatal_interrupt,
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78 spi0_handler: fatal_interrupt,
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80 /** Timer and Accumulator */
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81 acca_input_handler: fatal_interrupt,
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82 acca_overflow_handler: fatal_interrupt,
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83 timer_overflow_handler: fatal_interrupt,
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85 /** Input capture / Output compare Timers */
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86 tc7_handler: fatal_interrupt,
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87 tc6_handler: fatal_interrupt,
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88 tc5_handler: fatal_interrupt,
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89 tc4_handler: fatal_interrupt,
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90 tc3_handler: fatal_interrupt,
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91 tc2_handler: fatal_interrupt,
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92 tc1_handler: fatal_interrupt,
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93 tc0_handler: fatal_interrupt,
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95 /** External Interrupts */
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96 rtii_handler: fatal_interrupt,
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97 irq_handler: fatal_interrupt,
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98 xirq_handler: fatal_interrupt,
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100 illegal_handler: fatal_interrupt,
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101 cop_fail_handler: fatal_interrupt,
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102 cop_clock_handler: fatal_interrupt,
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104 /** Vectors in use */
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105 swi_handler: vPortYield,
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106 rtii_handler: vPortTickInterrupt,
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107 #if M6812_DEF_SCI==1
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108 sci1_handler: vCOM_ISR,
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110 sci0_handler: vCOM_ISR,
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112 reset_handler: _start
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