Quadrotor from scratch
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#ifndef __INTERRUPT_H
#define __INTERRUPT_H
#include "swi.h"
#define VICVectAddr (*(volatile unsigned int *)0xFFFFF030)
#define I_WDT 0
#define I_ARMCore0 2
#define I_ARMCore1 3
#define I_TIMER0 4
#define I_TIMER1 5
#define I_UART0 6
#define I_UART1 7
#define I_I2C0 9
#define I_SPI0 10
#define I_SPI1 11
#define I_SSP 11
#define I_PLL 12
#define I_RTC 13
#define I_EINT0 14
#define I_EINT1 15
#define I_EINT2 16
#define I_AD0 18
#define I_I2C1 19
#define I_TIMER2 26
#define I_TIMER3 27
/* Assign interrupt priorities here to avoid clashes */
#define I_PRIORITY_I2C0 0
#define I_PRIORITY_UART0 1
#define I_PRIORITY_TIMER3 2
#define I_PRIORITY_TIMER0 3
#define I_PRIORITY_SPI1 4
#define interrupt_clear() do { VICVectAddr = 0xff; } while (0)
void init_interrupt(void);
void interrupt_register_code(unsigned int source, unsigned int priority,
void(*handler)(void));
#define interrupt_register(x, fn) \
interrupt_register_code(I_##x, I_PRIORITY_##x, fn)
#define interrupt_block() swi_call(SWI_INTERRUPT_BLOCK)
#define interrupt_unblock() swi_call(SWI_INTERRUPT_UNBLOCK)
#endif /* __INTERRUPT_H */