/* NXT-JSP hook ISR to be invoked every 1msec */
void jsp_systick_low_priority(void)
{
if (get_OS_flag()) /* check whether JSP already started or not */
{
check_NXT_buttons(); /* this must be called here to stop/exit the system */
}
}
//*****************************************************************************
// FUNCTION : jsp_systick_low_priority
// ARGUMENT : none
// RETURN : none
// DESCRIPTION : 1msec periodical ISR
//*****************************************************************************
void jsp_systick_low_priority(void)
{
if (get_OS_flag()) /* check whether JSP already started or not */
{
isig_tim(); /* cyclic task dispatcher */
check_NXT_buttons(); /* this must be called here */
}
}
void systick_isr_C1()
{
/* clear the interrupt status register (2007/12/27) */
*AT91C_AIC_ICCR = (1 << 10); /* 10 = LOW_PRIORITY_IRQ */
/* check OSEK was started */
if (get_OS_flag())
{
user_1ms_isr_type2();
check_NXT_buttons();
}
/* this function should be here to stop the NXT immediately
* after EXIT button was pressed
*/
systick_low_priority_C();
}