void c_irq_handler(volatile unsigned int* sp)
{
unsigned int pendingIrq = Arm_IrqGetPending();
switch (pendingIrq)
{
case interrupt_source_system_timer:
{
// Note IRQ has no acccess to peripherals? :(
Scheduler_TimerTick((thread_regs*)(sp - 1));
break;
}
case interrupt_source_uart:
{
unsigned char read = Uart_Read();
// Echo it back
Uart_Send(read);
if (read == 'x')
{
Uart_SendString("\r\n* * * Rebooting. * * *\r\n");
reboot();
}
break;
}
default:
printf("Unhandled IRQ pending, id:%d.\n", pendingIrq);
break;
}
}
int32_t irobotUARTReadRaw(
const irobotUARTPort_t port,
uint8_t * const data,
const size_t nData
){
// catch NULL pointers
if(!data){
return ERROR_INVALID_PARAMETER;
}
else{
return Uart_Read(port, data, nData);
}
}
