Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -r9b262ba08e3180f121c3cf19d8d25e565183f87d -rade19b8aa4c3b60cdda4028871ef009b01368948
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 9b262ba08e3180f121c3cf19d8d25e565183f87d)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision ade19b8aa4c3b60cdda4028871ef009b01368948)
@@ -16,6 +16,7 @@
  **************************************************************************/
 
 #include "can.h"
+#include "rti.h"
 #include "sci.h"
 #include "sys_dma.h"
 
@@ -24,6 +25,9 @@
 #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
@@ -49,7 +53,7 @@
 
 
 /*************************************************************************
- * @brief phantomInterrupt
+ * @brief
  * The phantomInterrupt function handles phantom interrupts.
  * @details
  * Inputs : none
@@ -63,7 +67,42 @@
 }
 
 /*************************************************************************
- * @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
@@ -81,7 +120,7 @@
 }
 
 /*************************************************************************
- * @brief canErrorNotification
+ * @brief
  * The canErrorNotification function handles CAN error notifications.
  * @details
  * Inputs : none
@@ -145,7 +184,7 @@
 }
 
 /*************************************************************************
- * @brief sciNotification
+ * @brief
  * The sciNotification function handles UART communication error interrupts. \n
  * Frame and Over-run errors are handled.
  * @details
@@ -215,7 +254,7 @@
 }
 
 /*************************************************************************
- * @brief dmaGroupANotification
+ * @brief
  * The dmaGroupANotification function handles communication DMA interrupts.
  * @details
  * Inputs : none