interrupts [31] {
  it_timer1                 = 1;
  systick_isr_C             = 1;
  nxt_motor_isr_C           = 2; 
  
  spi_isr_C                 = 5; 
  uart_isr_C_0              = 6;
  uart_isr_C_1              = 7; 
  sound_isr_C               = 8; 
  twi_isr_C                 = 9; 
  systick_low_priority_C    = 10;
  udp_isr_C                 = 11;
  i2c_timer_isr_C           = 12;
  
  button_stop               = 18;
  
  check_buttons_status      = 30;
};

/**
 * id :
 * 0 FIQ
 * 1 SYS (SystemCounter + systick)
 * 2 PIOA (motors)
 * 4 ADC
 * 5 SPI (display)
 * 6 US0
 * 7 US1
 * 8 SSC (sound)
 * 9 TWI (avr)
 * 10 PWM (update sensors from avr)
 * 11 UDP
 * 12 TCO (i2c - for sensors like ultrasonic)
 * 13 TC1
 * 14 TC2
 * 15 (reserved for the arm) button_start for tpl_it_vector
 * 16 (reserved for the arm) button_left for tpl_it_vector
 * 17 (reserved for the arm) button_right for tpl_it_vector
 * 18 (reserved for the arm) button_stop for tpl_it_vector
 *
 * 30 IRQ0 (used for the buttons)
 * 31 IRQ1
 * 
 */