diff --git a/arch/arm/src/armv7-r/arm_prefetchabort.c b/arch/arm/src/armv7-r/arm_prefetchabort.c
index ced1c68ea5..1e3171a80f 100644
--- a/arch/arm/src/armv7-r/arm_prefetchabort.c
+++ b/arch/arm/src/armv7-r/arm_prefetchabort.c
@@ -58,18 +58,6 @@
 #include "sched/sched.h"
 #include "up_internal.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
diff --git a/arch/arm/src/tms570/tms570_esm.c b/arch/arm/src/tms570/tms570_esm.c
index cbbaa1e4f2..b7f17ab52b 100644
--- a/arch/arm/src/tms570/tms570_esm.c
+++ b/arch/arm/src/tms570/tms570_esm.c
@@ -48,14 +48,16 @@
 
 #include <sys/types.h>
 #include <stdint.h>
+#include <debug.h>
 
+#include <arch/irq.h>
+
+#include "up_internal.h"
 #include "up_arch.h"
 
 #include "chip/tms570_esm.h"
 #include "tms570_esm.h"
 
-#include <arch/board/board.h>
-
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -113,12 +115,12 @@ int tms570_esm_initialize(void)
       putreg32(0, TMS570_ESM_EKR);
     }
 
-  /* Clear interrupt level */
+  /* Clear interrupt level.  All channels set to low level interrupt. */
 
   putreg32(0xffffffff, TMS570_ESM_ILCR1);
   putreg32(0xffffffff, TMS570_ESM_ILCR4);
 
-  /* Set interrupt level */
+  /* Set interrupt level (Writing zero does nothing) */
  
   putreg32(0, TMS570_ESM_ILSR1);
   putreg32(0, TMS570_ESM_ILSR4);
@@ -134,3 +136,26 @@ int tms570_esm_initialize(void)
   putreg32(0, TMS570_ESM_IESR4);
   return OK;
 }
+
+/****************************************************************************
+ * Name:  tms570_esm_interrupt
+ *
+ * Description:
+ *   ESM interrupt handler
+ *
+ ****************************************************************************/
+
+int tms570_esm_interrupt(int irq, void *context)
+{
+  /* Save the saved processor context in current_regs where it can be accessed
+   * for register dumps and possibly context switching.
+   */
+
+  current_regs = (uint32_t *)context;
+
+  /* Crash -- possibly showing diagnostic debug information. */
+
+  lldbg("ESM Interrupt. PC: %08x\n", current_regs[REG_PC]);
+  PANIC();
+  return OK; /* To keep the compiler happy */
+}
diff --git a/arch/arm/src/tms570/tms570_esm.h b/arch/arm/src/tms570/tms570_esm.h
index b5fd706c8e..7222cc17fe 100644
--- a/arch/arm/src/tms570/tms570_esm.h
+++ b/arch/arm/src/tms570/tms570_esm.h
@@ -71,6 +71,16 @@ extern "C"
 
 int tms570_esm_initialize(void);
 
+/****************************************************************************
+ * Name:  tms570_esm_interrupt
+ *
+ * Description:
+ *   ESM interrupt handler
+ *
+ ****************************************************************************/
+
+int tms570_esm_interrupt(int irq, void *context);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/arch/arm/src/tms570/tms570_irq.c b/arch/arm/src/tms570/tms570_irq.c
index ed569c74b3..af617894ae 100644
--- a/arch/arm/src/tms570/tms570_irq.c
+++ b/arch/arm/src/tms570/tms570_irq.c
@@ -53,6 +53,7 @@
 
 #include "chip/tms570_vim.h"
 #include "tms570_gio.h"
+#include "tms570_esm.h"
 #include "tms570_irq.h"
 
 /****************************************************************************
@@ -182,7 +183,16 @@ void up_irqinitialize(void)
   tms570_gioirq_initialize();
 #endif
 
-  /* And finally, enable interrupts */
+  /* Attach and enable ESM interrupts.  The high level interrupt is really
+   * an NMI.
+   */
+
+  (void)irq_attach(TMS570_REQ_ESMHIGH, tms570_esm_interrupt);
+  (void)irq_attach(TMS570_REQ_ESMLO, tms570_esm_interrupt);
+  up_enable_irq(TMS570_REQ_ESMHIGH);
+  up_enable_irq(TMS570_REQ_ESMLO);
+
+  /* And finally, enable interrupts globally */
 
   irqenable();
 #endif