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Code going into Illegal ISR

Other Parts Discussed in Thread: TMS320F28035

Dear All,

         While i was debugging my code on TMS320F28035 controller some times it goes into ILLEGAL ISR.

At time i have connected JTAG but not sure if it was is Real Time Debug Mode.

What was the problem its going into ILLEGAL ISR ?

How to remove it and How to Locate problem of ILLEGAL ISR cause ?

Thank You