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jeremybenn |
/* modrx.c -- wireless controller receiver for robots
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Copyright 2004 Robotronics, Inc.
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Author Jefferson Smith
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This file is part of the Modular Robot Design.
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*/
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#include "cpu.h"
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#include <sys/ports.h>
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#include <sys/interrupts.h>
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void fatal_interrupt ()
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{
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/* Infinite loop for debugging
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Returning would not help as it's necessary to clear the interrupt flag.
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*/
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for (;;) cop_optional_reset();
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}
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#ifdef USE_INTERRUPT_TABLE
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/* NOTE: these ISR must be in non-banked memory (near) */
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/* Manual context switch function. This is the SWI ISR. */
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void ATTR_INT ATTR_NEAR vPortYield( void );
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/* Tick context switch function. This is the timer ISR. */
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void ATTR_INT ATTR_NEAR vPortTickInterrupt( void );
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void ATTR_INT ATTR_NEAR vCOM_ISR( void );
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/* Interrupt vectors table.
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Note: the `XXX_handler: foo' notation is a GNU extension which is
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used here to ensure correct association of the handler in the struct.
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This is why the order of handlers declared below does not follow
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the MCU order. */
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const struct interrupt_vectors __attribute__((section(".vectors"))) vectors =
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{
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pwm_shutdown_handler: fatal_interrupt,
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ptpif_handler: fatal_interrupt,
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can4_tx_handler: fatal_interrupt,
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can4_rx_handler: fatal_interrupt,
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can4_err_handler: fatal_interrupt,
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can4_wake_handler: fatal_interrupt,
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can3_tx_handler: fatal_interrupt,
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can3_rx_handler: fatal_interrupt,
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can3_err_handler: fatal_interrupt,
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can3_wake_handler: fatal_interrupt,
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can2_tx_handler: fatal_interrupt,
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can2_rx_handler: fatal_interrupt,
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can2_err_handler: fatal_interrupt,
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can2_wake_handler: fatal_interrupt,
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can1_tx_handler: fatal_interrupt,
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can1_rx_handler: fatal_interrupt,
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can1_err_handler: fatal_interrupt,
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can1_wake_handler: fatal_interrupt,
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can0_tx_handler: fatal_interrupt,
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can0_rx_handler: fatal_interrupt,
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can0_err_handler: fatal_interrupt,
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can0_wake_handler: fatal_interrupt,
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flash_handler: fatal_interrupt,
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eeprom_handler: fatal_interrupt,
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spi2_handler: fatal_interrupt,
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spi1_handler: fatal_interrupt,
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iic_handler: fatal_interrupt,
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bdlc_handler: fatal_interrupt,
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selfclk_mode_handler: fatal_interrupt,
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pll_lock_handler: fatal_interrupt,
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accb_overflow_handler: fatal_interrupt,
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mccnt_underflow_handler: fatal_interrupt,
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pthif_handler: fatal_interrupt,
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ptjif_handler: fatal_interrupt,
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atd1_handler: fatal_interrupt,
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atd0_handler: fatal_interrupt,
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sci1_handler: fatal_interrupt,
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sci0_handler: fatal_interrupt,
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spi0_handler: fatal_interrupt,
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/** Timer and Accumulator */
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acca_input_handler: fatal_interrupt,
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acca_overflow_handler: fatal_interrupt,
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timer_overflow_handler: fatal_interrupt,
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/** Input capture / Output compare Timers */
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tc7_handler: fatal_interrupt,
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tc6_handler: fatal_interrupt,
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tc5_handler: fatal_interrupt,
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tc4_handler: fatal_interrupt,
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tc3_handler: fatal_interrupt,
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tc2_handler: fatal_interrupt,
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tc1_handler: fatal_interrupt,
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tc0_handler: fatal_interrupt,
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/** External Interrupts */
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rtii_handler: fatal_interrupt,
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irq_handler: fatal_interrupt,
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xirq_handler: fatal_interrupt,
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illegal_handler: fatal_interrupt,
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cop_fail_handler: fatal_interrupt,
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cop_clock_handler: fatal_interrupt,
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/** Vectors in use */
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swi_handler: vPortYield,
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rtii_handler: vPortTickInterrupt,
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#if M6812_DEF_SCI==1
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sci1_handler: vCOM_ISR,
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#else
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sci0_handler: vCOM_ISR,
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#endif
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reset_handler: _start
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};
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#endif
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