/*******************************************************************************/
/**
Copyright (c) 2007 Freescale Semiconductor
Freescale Confidential Proprietary
\file       Interrupts.c
\brief      Interrupt Service Routines
\author     Freescale Semiconductor
\author     Guadalajara Applications Laboratory RTAC Americas
\author     Jaime Orozco
\version    1.1
\date       March/12/2007
*/
/*******************************************************************************/
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/*******************************************************************************/

/** S12X derivative information */ 
#include "M9S12XF512.h"     

/** Macro definitions for general purpose I/O handling  */
#include "GPIO_macros.h"

/** Variable types and common definitions */
#include "typedefs.h"   

/** SBC definitions and function prototypes */
#include "SBC_driver.h"

/** CAN channel definitions and function prototypes  */
#include "CAN_driver.h"

/** Task scheduler function prototypes */
#include "Scheduler.h"

/** Task code for the scheduler */
UINT8 gu8TaskCode;


/*******************************************************************************/
/**
* \brief    Real Time Interrupt service routine, \n
            SBC watchdog clearing and time base for the scheduler
* \author   Jaime Orozco
*/
#pragma CODE_SEG __NEAR_SEG NON_BANKED

void interrupt Scheduler_RTI_Isr(void)
{
    CRGFLG_RTIF = 1;    /* Clear the real time interrupt flag */ 
    
    XGSWT= 0x0101;      /* Software trigger to the XGATE */
    
    /* Execute the next task in the scheduler and update the task code */
    gu8TaskCode=u8Scheduler(gu8TaskCode);  
}
#pragma CODE_SEG Scheduler_RTI_CODE


/*******************************************************************************/
/**
* \brief    XIRQ service routine
* \author   Jaime Orozco
*/
#pragma CODE_SEG __NEAR_SEG NON_BANKED

void interrupt External_XIRQ_Isr(void)
{
    UINT16 u16Delay;
    
    LED_TOGGLE(D26);   /* Toggle LED indicator */
    
        /* Switch debouncing by software*/
        for (u16Delay=0;u16Delay<30000;u16Delay++);   
}
#pragma CODE_SEG External_XIRQ_CODE


/*******************************************************************************/
/**
* \brief    CAN reception interrupt service routine
* \author   Jaime Orozco
*/
#pragma CODE_SEG __NEAR_SEG NON_BANKED

void interrupt CANRx_Isr(void)
{    
    LED_ON(D27);
    LED_ON(D29);        /* Turn ON LED indicators */   
    
    vfnCAN_ReceivedFrame(); /* Read received frame */           
}

#pragma CODE_SEG CANRx_Isr_CODE



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