Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -r5bec978fa9cce89bbf8c559f0844b7528a10c0d1 -rb948375777d4eb9c766befdcfde1e717a37977a8
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 5bec978fa9cce89bbf8c559f0844b7528a10c0d1)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision b948375777d4eb9c766befdcfde1e717a37977a8)
@@ -17,6 +17,7 @@
 
 #include <HDCommon.h>
 #include "can.h"
+#include "rti.h"
 #include "sci.h"
 #include "sys_dma.h"
 
@@ -25,6 +26,9 @@
 #include "Interrupts.h"
 #include "FPGA.h"
 #include "SystemComm.h"
+#include "TaskGeneral.h"
+#include "TaskPriority.h"
+#include "TaskTimer.h"
 #ifdef DEBUG_ENABLED
     #include "SystemCommMessages.h"
 #endif
@@ -50,7 +54,7 @@
 
 
 /*************************************************************************
- * @brief phantomInterrupt
+ * @brief
  * The phantomInterrupt function handles phantom interrupts.
  * @details
  * Inputs : none
@@ -64,7 +68,42 @@
 }
 
 /*************************************************************************
- * @brief canMessageNotification
+ * @brief
+ * The rtiNotification function handles real-time interrupt notifications.
+ * @details
+ * Inputs : none
+ * Outputs : RTI notification handled.
+ * @param notification : Which RTI timer caused this interrupt.
+ * @return none
+ *************************************************************************/
+void rtiNotification(uint32 notification)
+{
+    switch ( notification )
+    {
+        case rtiNOTIFICATION_COMPARE0:
+            taskTimer();
+            break;
+
+        case rtiNOTIFICATION_COMPARE1:
+            taskPriority();
+            break;
+
+        case rtiNOTIFICATION_COMPARE2:
+            // do nothing - unused at this time
+            break;
+
+        case rtiNOTIFICATION_COMPARE3:
+            taskGeneral();
+            break;
+
+        default:
+            // TODO - s/w fault?
+            break;
+    }
+}
+
+/*************************************************************************
+ * @brief
  * The canMessageNotification function handles CAN message notifications.
  * @details
  * Inputs : none
@@ -82,7 +121,7 @@
 }
 
 /*************************************************************************
- * @brief canErrorNotification
+ * @brief
  * The canErrorNotification function handles CAN error notifications.
  * @details
  * Inputs : none
@@ -146,7 +185,7 @@
 }
 
 /*************************************************************************
- * @brief sciNotification
+ * @brief
  * The sciNotification function handles UART communication error interrupts. \n
  * Frame and Over-run errors are handled.
  * @details
@@ -216,7 +255,7 @@
 }
 
 /*************************************************************************
- * @brief dmaGroupANotification
+ * @brief
  * The dmaGroupANotification function handles communication DMA interrupts.
  * @details
  * Inputs : none